Versatile Manipulation for Unstructured Domains

One of the main limitations of today’s robotic manipulators is lack of versatility. Other features, like precision, repeatability, or grip strength have enabled a large set of applications, prevalent in industrial settings. However, once a manipulation task implies variation, it quickly falls to human workers. The need for versatile robotic manipulation is apparent in many domains, from manufacturing to logistics and services. In order to enable applications in these domains, robots must be able to explicitly reason about the uncertainty inherent in unstructured settings, and to operate even in cluttered scenes requiring complex interations with the world. Our work aims to address both of these challenges.
 
Relevant publications
 
Journal publications:
  • S. Chitta, E. G. Jones, M. Ciocarlie and K. Hsiao. “Perception, Planning, and Execution for Mobile Manipulation in Unstructured Environments”, IEEE Robotics & Automation Magazine Special Issue on Mobile Manipulation, 19(2), 2012 (work performed at Willow Garage, Inc.) [pdf]
  • M. Ciocarlie, C. Pantofaru, K. Hsiao, G. Bradski, P. Brook and E. Dreyfuss. “A Side of Data with My Robot: Three Datasets for Mobile Manipulation in Human Environments”, IEEE Robotics & Automation Magazine Special Issue: Towards a WWW for Robots, 18(2), 2011 (work performed at Willow Garage, Inc.) [pdf]

Conference Publications:

  • A. Leeper, K. Hsiao, M. Ciocarlie, I. Sucan and K. Salisbury. “Methods for Collision-Free Arm Teleoperation in Clutter Using Constraints from 3D Sensor Data”, IEEE Intl. Conf. on Humanoid Robots, Atlanta, October 2013 (work partly performed at Willow Garage, Inc.) [pdf]
  • M. Dogar, K. Hsiao, M. Ciocarlie and S. Srinivasa. “Physics-based Grasp Planning Through Clutter”, Robotics: Science and Systems, Sydney, July 2012 (work partly performed at Willow Garage, Inc.) [pdf]
  • P. Brook, M. Ciocarlie and K. Hsiao. “Collaborative Grasp Planning with Multiple Object Representations”, IEEE Intl. Conference on Robotics and Automation, Shanghai, May 2011 (work performed at Willow Garage, Inc.) [pdf]
  • M. Ciocarlie, K. Hsiao, E. G. Jones, S. Chitta, R. B. Rusu and I. A. Sucan. “Towards Reliable Grasping and Manipulation in Household Environments”, Intl. Symp. on Experimental Robotics, Delhi, December 2010 (work performed at Willow Garage, Inc.) [pdf]
  • C. Goldfeder, M. Ciocarlie, J. Peretzman, H. Dang and P. Allen. “Data-Driven Grasping with Partial Sensor Data”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, St. Louis, October 2009 [link]
Note: this list also contains relevant publications by current lab members on work performed while affiliated with previous labs or institutions. For such cases, the place where the work was performed is marked next to each entry.
 
 
©2014 ROAM Lab