Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-Structured Environment

Petr Stibinger, George Broughton, Filip Majer, Zdenek Rozsypalek, Anthony Wang, Kshitij Jindal, Alex Zhou, Dinesh Thakur, Giuseppe Loianno, Tomas Krajnik, Martin Saska

Research output: Contribution to journalArticlepeer-review

Abstract

Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is capable of autonomous localization, grasping, transportation and deployment of construction material in a semi-structured environment. Special effort was put into making the system invariant to lighting changes, and not reliant on external positioning systems. Therefore, the presented system is self-contained and capable of operating in outdoor and indoor conditions alike. Finally, we present means to extend the perceptive radius of the vehicle by using it in cooperation with an autonomous drone, which provides aerial reconnaissance. Performance of the proposed system has been evaluated in a series of experiments conducted in real-world conditions.

Original languageEnglish (US)
Article number9361167
Pages (from-to)2595-2602
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume6
Issue number2
DOIs
StatePublished - Apr 2021

Keywords

  • Building automation
  • mobile manipulation
  • perception for grasping and manipulation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence

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