Student Work

Enabling Semi-Autonomous Manipulation on iRobot's PackBot

Público

Contenido Descargable

open in viewer

Our project integrates the OpenRAVE motion-planner and simulator with iRobot’s PackBot for increased autonomy. Because situations where PackBots are deployed tend to be dangerous and chaotic, reducing operator workload through autonomous behavior is a major design goal for iRobot. We demonstrate our system by incorporating a three-dimensional vision sensor, recognizing obstacles and cylinders, and enabling click-to-grasp functionality for detected cylinders. Because operating PackBot’s manipulator requires skill and attention, our system could lead to a valuable addition to PackBot’s operating system.

  • This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.
Creator
Publisher
Identifier
  • E-project-050114-111323
Advisor
Year
  • 2014
Sponsor
Date created
  • 2014-05-01
Resource type
Major
Rights statement

Las relaciones

En Collection:

Permanent link to this page: https://digital.wpi.edu/show/d504rm83k