Location: Search Based Planning Lab, RI, CMU

PR2 is a full body mobile manipulator (or humanoid) that consists of a 7-DoF arm. In this project, I implemented an ICP based pose estimation strategy that works with a search-based planner to grasp moving objects of a conveyor belt. I improved the pose estimation strategy by deploying PERCH 2.0 for this task enabling spatially consistent accuracy across the conveyor length.

Papers : RSS 2020, Master’s Thesis / Videos : Clip 1, Clip 2 / Code : GitHub / Skills : Python, ROS, PCL