Faculty Advisor

Berenson, Dmitry

Abstract

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.

Publisher

Worcester Polytechnic Institute

Date Accepted

May 2014

Major

Computer Science

Major

Robotics Engineering

Major

Professional Writing

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Computer Science

Share

COinS