Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator
Author(s)Vasilopoulos, Vasileios; Topping, T. Turner; Vega-Brown, William R; Roy, Nicholas; Koditschek, Daniel E.
MetadataShow full item record
We demonstrate the physical rearrangement of wheeled stools in a moderately cluttered indoor environment by a quadrupedal robot that autonomously achieves a user's desired configuration. The robot's behaviors are planned and executed by a three layer hierarchical architecture consisting of: an offline symbolic task and motion planner; a reactive layer that tracks the reference output of the deliberative layer and avoids unanticipated obstacles sensed online; and a gait layer that realizes the abstract unicycle commands from the reactive module through appropriately coordinated joint level torque feedback loops. This work also extends prior formal results about the reactive layer to a broad class of nonconvex obstacles. Our design is verified both by formal proofs as well as empirical demonstration of various assembly tasks. Keywords: Task analysis; Grippers; Robot sensing systems; Robot kinematics; Mobile robots; Manipulators.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Institute of Electrical and Electronics Engineers (IEEE)
Vasilopoulos, Vasileios et al. "Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2018, Madrid, Spain, Institute of Electrical and Electronics Engineers (IEEE), 2019.
Author's final manuscript