End-to-end dexterous manipulation with deliberate interactive estimation
Abstract
This paper presents a model based approach to autonomous dexterous manipulation, developed as part of the DARPA Autonomous Robotic Manipulation (ARM) program. The developed autonomy system uses robot, object, and environment models to identify and localize objects, and well as plan and execute required manipulation tasks. Deliberate interaction with objects and the environment increases system knowledge about the combined robot and environmental state, enabling high precision tasks such as key insertion to be performed in a consistent framework. This approach has been demonstrated across a wide range of manipulation tasks, and in independent DARPA testing archived the most successfully completed tasks with the fastest average task execution of any evaluated team.
Additional Information
© 2012 IEEE. 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.Additional details
- Eprint ID
- 74116
- DOI
- 10.1109/ICRA.2012.6225101
- Resolver ID
- CaltechAUTHORS:20170206-173852903
- Defense Advanced Research Projects Agency (DARPA)
- NASA/JPL/Caltech
- Created
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2017-02-07Created from EPrint's datestamp field
- Updated
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2021-11-11Created from EPrint's last_modified field