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.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Gwozdz, Jessica Rose
• Morin, Nicholas C
• Mowris, Ransom Philip

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-050114-111323

Advisor

• Berenson, Dmitry

Year

• 2014

Sponsor

• iRobot

Date created

• 2014-05-01

Resource type

• Major Qualifying Project

Major

• Robotics Engineering
• Interdisciplinary

Rights statement

• In Copyright