Project Type MQP Submission date 2013-03-11 Authors Timothy John Jenkel, RBE Richard G Kelly, ID Paul Joseph Shepanski, paultheshep@WPI.EDU, RBE URN E-project-031113-133138 Title Mobile Manipulation for the KUKA youBot Platform Advisors Rich, Charles, CS Chernova, Sonia, CS Availability unrestricted
This paper details the implementation of object manipulation and navigation capabilities for the KUKA youBot platform. Our system builds upon existing approaches taken from other robot platforms and the open source Robot Operating System, and extends these capabilities to the youBot, resulting in a system that can detect objects in its environment, navigate to them autonomously, and both pick up and place the objects with a simple user interface. This project is part of the larger Robot Autonomy and Interactive Learning Lab project to provide web-based control of the youBot to public users.
Files Mobile_Manipulation_for_the_KUKA_youBot_Platform.pdf railmqp-code.zip
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