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.
Worcester Polytechnic Institute
Major Qualifying Project
All authors have granted to WPI a nonexclusive royalty-free license to distribute copies of the work, subject to other agreements. Copyright is held by the author or authors, with all rights reserved, unless otherwise noted.