Personal Robotics Lab, we are developing building blocks of perception,
navigation, manipulation, and interaction to enable robots to perform
useful tasks in environments structured for humans.
In this talk, I will focus on our work on manipulation: extending
randomized planners to constraint manifolds, and leveraging the
mechanics of manipulation for planning under clutter and uncertainty. I
will also describe our learnings from integrating our algorithms on our
robot HERB, a bi-manual mobile manipulator that we built, comprised of
two Barrett WAM arms on a Segway base equipped with a suite of image
and range sensors.