A distributed, any-time robot architecture for robust manipulation

Aaron J. Snoswell; Vektor Dewanto; Marcus Hoerger; Joshua Song; Hanna Kurniawati; Surya P.N. Singh

A distributed, any-time robot architecture for robust manipulation

Aaron J. Snoswell^*
, Vektor Dewanto
, Marcus Hoerger
, Joshua Song
, Hanna Kurniawati
, Surya P.N. Singh

^*Corresponding author for this work

Research output: Contribution to journal › Conference article › peer-review

2 Citations (Scopus)

Abstract

We present a robot system architecture for a mobile manipulator to perform grasping and manipulation tasks robustly. The system is distributed across multiple computers allowing for online update rates while maintaining a reasonable planning horizon. We test this system architecture using the MOVO mobile manipulation platform from Kinova Robotics. The completed system was demonstrated with a robust manipulation task for over 70 hours at SIMPAR 2018 and ICRA 2018, achieving a success rate ≈ 98%.

Original language	English
Number of pages	10
Journal	Australasian Conference on Robotics and Automation, ACRA
Volume	2018-December
Publication status	Published - 2018
Externally published	Yes
Event	2018 Australasian Conference on Robotics and Automation, ACRA 2018 - Lincoln, Canterbury, New Zealand Duration: 4 Dec 2018 → 6 Dec 2018

Cite this

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title = "A distributed, any-time robot architecture for robust manipulation",

abstract = "We present a robot system architecture for a mobile manipulator to perform grasping and manipulation tasks robustly. The system is distributed across multiple computers allowing for online update rates while maintaining a reasonable planning horizon. We test this system architecture using the MOVO mobile manipulation platform from Kinova Robotics. The completed system was demonstrated with a robust manipulation task for over 70 hours at SIMPAR 2018 and ICRA 2018, achieving a success rate ≈ 98\%.",

author = "Snoswell, \{Aaron J.\} and Vektor Dewanto and Marcus Hoerger and Joshua Song and Hanna Kurniawati and Singh, \{Surya P.N.\}",

note = "Publisher Copyright: {\textcopyright} 2018 Australasian Robotics and Automation Association. All rights reserved.; 2018 Australasian Conference on Robotics and Automation, ACRA 2018 ; Conference date: 04-12-2018 Through 06-12-2018",

year = "2018",

language = "English",

volume = "2018-December",

journal = "Australasian Conference on Robotics and Automation, ACRA",

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TY - JOUR

T1 - A distributed, any-time robot architecture for robust manipulation

AU - Snoswell, Aaron J.

AU - Dewanto, Vektor

AU - Hoerger, Marcus

AU - Song, Joshua

AU - Kurniawati, Hanna

AU - Singh, Surya P.N.

PY - 2018

Y1 - 2018

N2 - We present a robot system architecture for a mobile manipulator to perform grasping and manipulation tasks robustly. The system is distributed across multiple computers allowing for online update rates while maintaining a reasonable planning horizon. We test this system architecture using the MOVO mobile manipulation platform from Kinova Robotics. The completed system was demonstrated with a robust manipulation task for over 70 hours at SIMPAR 2018 and ICRA 2018, achieving a success rate ≈ 98%.

AB - We present a robot system architecture for a mobile manipulator to perform grasping and manipulation tasks robustly. The system is distributed across multiple computers allowing for online update rates while maintaining a reasonable planning horizon. We test this system architecture using the MOVO mobile manipulation platform from Kinova Robotics. The completed system was demonstrated with a robust manipulation task for over 70 hours at SIMPAR 2018 and ICRA 2018, achieving a success rate ≈ 98%.

UR - https://www.scopus.com/pages/publications/85071543493

M3 - Conference article

AN - SCOPUS:85071543493

SN - 1448-2053

VL - 2018-December

JO - Australasian Conference on Robotics and Automation, ACRA

JF - Australasian Conference on Robotics and Automation, ACRA

T2 - 2018 Australasian Conference on Robotics and Automation, ACRA 2018

Y2 - 4 December 2018 through 6 December 2018

ER -

A distributed, any-time robot architecture for robust manipulation

Abstract

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