# An integrated system for autonomous robotics manipulation

> We describe the software components of a robotics system designed to autonomously grasp objects and perform dexterous manipulation tasks with only high-level supervision. The system is centered on the tight integration of several core functionalities, including perception, planning and control, with...

## Metadata
- Authors: J. Andrew Bagnell, Felipe Lira de Sá Cavalcanti, Lei Cui, Thomas Galluzzo, Martial Hebert, Moslem Kazemi, Matthew Klingensmith, Jacqueline Libby, Tian Yu Liu, Nancy S. Pollard, Mihail Pivtoraiko, Jean‐Sebastien Valois, Ranqi Zhu
- Published: 2012-10-01
- DOI: https://doi.org/10.1109/iros.2012.6385888
- Citations: 120
- Source: OpenAlex
- Access: Open Access

## Technology Hub
- Hub: Robotics & Autonomous Systems
- Discipline: Engineering / AI
- Hub URL: https://science-database.com/technology/robotics
- Hub llms.txt: https://science-database.com/technology/robotics/llms.txt

## Abstract
We describe the software components of a robotics system designed to autonomously grasp objects and perform dexterous manipulation tasks with only high-level supervision. The system is centered on the tight integration of several core functionalities, including perception, planning and control, with the logical structuring of tasks driven by a Behavior Tree architecture. The advantage of the implementation is to reduce the execution time while integrating advanced algorithms for autonomous manipulation. We describe our approach to 3-D perception, real-time planning, force compliant motions, and audio processing. Performance results for object grasping and complex manipulation tasks of in-house tests and of an independent evaluation team are presented.

## Links
- DOI: https://doi.org/10.1109/iros.2012.6385888
- OpenAlex: https://openalex.org/W1963549352
- PDF: https://figshare.com/articles/An_Integrated_System_for_Autonomous_Robotics_Manipulation/6551918
- JSON API: https://science-database.com/api/v1/technology/robotics

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Paper ID: oa-W1963549352 | Hub: robotics