A perception and manipulation system for collecting rock samples

Computer Science – Robotics

Scientific paper

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Collection, Manipulators, Rangefinding, Robot Arms, Robot Dynamics, Robotics, Rocks, Samples, Space Exploration, Terrain, Autonomy, Modules, Shapes

Scientific paper

An important part of a planetary exploration mission is to collect and analyze surface samples. As part of the Carnegie Mellon University Ambler Project, researchers are investigating techniques for collecting samples using a robot arm and a range sensor. The aim of this work is to make the sample collection operation fully autonomous. Described here are the components of the experimental system, including a perception module that extracts objects of interest from range images and produces models of their shapes, and a manipulation module that enables the system to pick up the objects identified by the perception module. The system was tested on a small testbed using natural terrain.

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