Hardware design, software architecture, and core algorithms of a bimanual mobile manipulatorVdeveloped for performing useful tasks for and with peopleVare described in this paper. Carnegie Mellon University, Pittsburgh, PA. We have developed HERB 2.0 to perform useful tasks for and with people in human environments. We exploit two key paradigms in human environments: that they have structure that a robot can learn, adapt and exploit, and that they demand general-purpose capability in robotic systems. In this paper, we reveal some of the structure present in everyday environments that we have been able to harness for manipulation and interaction, comment on the particular challenges on working in human spaces, and describe some of the lessons we learned from extensively testing our integrated platform in kitchen and office environments.
e HERB 2.0 REF consists of a two-handed mobile manipulator that can perform useful tasks for and with people in human environments.
Herb 2.0: Lessons Learned From Developing a Mobile Manipulator for the Home
Proceedings of the IEEE
Proceedings of the IEEE
Engineering Computer Science