Spring 2011 GRASP Seminar - Siddhartha Srinivasa, Intel Labs Pittsburgh, "Enabling Mobile Manipulation in the Real World"
Friday, April 15, 2011 - 11:00am to 12:00pm
Abstract: Robots are extremely effective in environments like factory floors that are structured for them, and currently ineffective in environments like our homes that are structured for humans. At the
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.
Dr. Siddhartha Srinivasa is a Senior Research Scientist with Intel Labs
Pittsburgh. He founded the Personal Robotics Lab
(http://personalrobotics.intel-research.net/) at Intel Pittsburgh and
co-directs the Manipulation Lab at CMU. Dr. Srinivasa's research focus is on developing perception, planning, and
learning algorithms that enable robots to accomplish useful
manipulation tasks in dynamic and cluttered indoor environments. He
co-founded the IEEE RAS Technical Committee on Mobile Manipulation in
2010, is an Associate Editor of IEEE ICRA 2010, 2011, and an Area Chair
for RSS 2011. Dr. Srinivasa's work won the Best Paper Award at HRI
2010, and was a Finalist at IEEE ICRA 2009 and 2010, and IROS 2010.