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.

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Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Abstract: Several approaches for incorporating navigation function approach into different controllers are developed in this paper for task execution by a nonholonomic system (e.g., a wheeled mobile robot) in the presence of known obstacles. The Þrst approach is a path planning-based control with planning a desired path based on a 3-dimensional position and orientation information. A navigation-like function yields a path from an initial conÞguration inside the free conÞguration space of the mobile robot to a goal conÞg-uration. A differentiable, oscillator-based controller is then used to enable the mobile robot to follow the path and stop at the goal position. A second approach is developed for a navigation function that is constructed using 2-dimensional position information. A differentiable controller is proposed based on this navigation function that yields asymptotic convergence. Simulation results are provided to illustrate the performance of the second approach.