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We present our general-purpose mobile manipulation system consisting of a custom robot platform and key algorithms spanning perception and planning.
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EPnP: An Accurate O(n) Solution to the PnP Problem
Vincent Lepetit, Francesc Moreno-Noguer, and Pascal Fua · 2009
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RoboCup@ Home: Scientific Competition and Benchmarking for Domestic Service Robots
Thomas Wisspeintner, Tijn Van Der Zant, Luca Iocchi, and Stefan Schiffer · 2009
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Autonomous Door Opening and Plugging in with a Personal Robot
Wim Meeussen, Melonee Wise, Stuart Glaser, Sachin Chitta, Conor McGann, Patrick Mihelich, Eitan Marder-Eppstein, Marius Muja, Victor Eruhimov, Tully Foote, John Hsu, Radu Bogdan Rusu, Bhaskara Marthi, Gary Bradski, Kurt Konolige, Brian Gerkey, and Eric Berger · 2010
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Three Things Everyone Should Know to Improve Object Retrieval
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Real-Time 3D Stereo Mapping in Complex Dynamic Environments
Max Bajracharya, Jeremy Ma, Andrew Howard, and Larry Matthies · 2012
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Herb 2.0: Lessons Learned From Developing a Mobile Manipulator for the Home
Siddhartha S. Srinivasa, Dmitry Berenson, Maya Cakmak, Alvaro Collet, Mehmet R. Dogar, Anca D. Dragan, Ross A. Knepper, Tim Niemueller, Kyle Strabala, Mike Vande Weghe, and Julius Ziegler · 2012
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The Hard Lessons of DARPA’s Robotics Rhallenge [News]
Erico Guizzo and Evan Ackerman · 2015
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Mobile Manipulation and Mobility as Manipulation—Design and Algorithms of RoboSimian
Paul Hebert, Max Bajracharya, Jeremy Ma, Nicolas Hudson, Alper Aydemir, Jason Reid, Charles Bergh, James Borders, Matthew Frost, Michael Hagman, John Leichty, Paul Backes, Brett Kennedy, Paul Karplus, Brian Satzinger, Katie Byl, Krishna Shankar, and Joel Burdick · 2015
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U-net: Convolutional Networks for Biomedical Image Segmentation
Olaf Ronneberger, Philipp Fischer, and Thomas Brox · 2015
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A Quadratic Programming Approach to Quasi-Static Whole-Body Manipulation
Krishna Shankar, Joel W. Burdick, and Nicolas H. Hudson · 2015
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ARMAR-6: A High-Performance Humanoid for Human-Robot Collaboration in Real-World Scenarios
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Precise Detection in Densely Packed Scenes
Eran Goldman, Roei Herzig, Aviv Eisenschtat, Jacob Goldberger, and Tal Hassner · 2019
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A Mobile Manipulation System for One-Shot Teaching of Complex Tasks in Homes
Max Bajracharya, James Borders, Dan Helmick, Thomas Kollar, Michael Laskey, John Leichty, Jeremy Ma, Umashankar Nagarajan, Akiyoshi Ochiai, Josh Petersen, Kevin Stone, and Yutaka Takaoka · 2020
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YOLOv5 by Ultralytics, 2020
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Few-Shot Open-Set Recognition Using Meta-Learning
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Lessons from the Amazon picking challenge: Four aspects of building robotic systems
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Deep Residual Learning for Image Recognition
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Toward Fully Autonomous Mobile Manipulation for Industrial Environments
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Pointnet: Deep Learning on Point Sets for 3D Classification and Segmentation
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Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-Structured Environment
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Ceres Solver, 2022
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Reconfigurable and Agile Legged-Wheeled Robot Navigation in Cluttered Environments With Movable Obstacles
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A Learned Stereo Depth System for Robotic Manipulation in Homes
Krishna Shankar, Mark Tjersland, Jeremy Ma, Kevin Stone, and Max Bajracharya · 2022
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A Survey of Wheeled Mobile Manipulation: A Decision-Making Perspective
Shantanu Thakar, Srivatsan Srinivasan, Sarah Al-Hussaini, Prahar M Bhatt, Pradeep Rajendran, Yeo Jung Yoon, Neel Dhanaraj, Rishi K Malhan, Matthias Schmid, Venkat N Krovi, and Satyandra K. Gupta · 2023
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