HERB Task Planning (PDF)

File information

Title: PowerPoint Presentation
Author: Joey

This PDF 1.5 document has been generated by Microsoft® PowerPoint® 2013, and has been sent on pdf-archive.com on 27/09/2015 at 20:34, from IP address 72.77.x.x. The current document download page has been viewed 263 times.
File size: 842.68 KB (1 page).
Privacy: public file

Document preview - HERB_Task_Planning.pdf - Page 1/1

File preview

HERB Task Planning
By Joey Fernau
CMU Robotics Institute
Personal Robotics Lab

. I created high level tasks for the robot HERB to
accomplish. Simple tasks such as moving an arm and
grabbing a specified about were composed to create
more complex tasks. In particular, the complex kitchen
task was composed of moving a ball into a bowl over a
table and then transporting the bowl over to the kitchen
cabinets. This resulted in a task planner that could plan
between pairs of states.

Finding a Trajectory

Searching for Trajectory

RRT Planner

Siddhartha S. et al. “HERB: a home exploring robotic
butler.” Autonomous Robots. Issue 1, pp 5-20, vol.
28, January 2010. http://link.springer.com/article/
LaValle, S.M., & Kuffner, J.J. “Randomized
Kinodynamic Planning”. The International Journal
of Robotics Research. http://ijr.sagepub.com/

Supervised by Evan Shapiro and Siddhartha Srinivasa

Download HERB Task Planning

HERB_Task_Planning.pdf (PDF, 842.68 KB)

Download PDF

Share this file on social networks


Link to this page

Permanent link

Use the permanent link to the download page to share your document on Facebook, Twitter, LinkedIn, or directly with a contact by e-Mail, Messenger, Whatsapp, Line..

Short link

Use the short link to share your document on Twitter or by text message (SMS)


Copy the following HTML code to share your document on a Website or Blog

QR Code to this page

QR Code link to PDF file HERB_Task_Planning.pdf

This file has been shared publicly by a user of PDF Archive.
Document ID: 0000303693.
Report illicit content