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Published January 1, 2014 | Supplemental Material
Journal Article Open

Model-based autonomous system for performing dexterous, human-level manipulation tasks

Abstract

This article presents a model based approach to autonomous dexterous manipulation, developed as part of the DARPA Autonomous Robotic Manipulation Software (ARM-S) program. Performing human-level manipulation tasks is achieved through a novel combination of perception in uncertain environments, precise tool use, forceful dual-arm planning and control, persistent environmental tracking, and task level verification. Deliberate interaction with the environment is incorporated into planning and control strategies, which, when coupled with world estimation, allows for refinement of models and precise manipulation. The system takes advantage of sensory feedback immediately with little open-loop execution, attempting true autonomous reasoning and multi-step sequencing that adapts in the face of changing and uncertain environments. A tire change scenario utilizing human tools, discussed throughout the article, is used to described the system approach. A second scenario of cutting a wire is also presented, and is used to illustrate system component reuse and generality.

Additional Information

© 2013 Springer Science+Business Media New York. Received: 1 March 2013; Accepted: 11 October 2013; Published online: 28 November 2013. The online version of this article (doi:10.1007/s10514-013-9371-y) contains supplementary material, which is available to authorized users. The research described in this publication was carried out at the Jet Propulsion Laboratory, California Institute of Technology, with funding from the DARPA Autonomous Robotic Manipulation Software Track (ARM-S) program through an agreement with NASA.

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Supplemental Material - 10514_2013_9371_MOESM1_ESM.m4v

Supplemental Material - 10514_2013_9371_MOESM2_ESM.wmv

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August 22, 2023
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