HERB 2.0 manipulates its environment with a pair of Barrett 7-DOF WAM arms with Barrett hands. The WAM arms have proven themselves to be great choices for working alongside humans, due to their comparatively low mass, backdriveability, and hardware-implemented safety system.

HERB 2.0 maximizes the workspace in which both hands can reach the same point while still remaining narrow enough to fit through a 28” wide doorway. The mounting height allows HERB 2.0 to grasp objects from both the floor and from high shelves in overhead cabinets.

HERB 2

<p>HERB 2.0 maximizes the workspace in which both hands can reach the same point while still remaining narrow enough to fit through a 28” wide doorway. The mounting height allows HERB 2.0 to grasp objects from both the floor and from high shelves in overhead cabinets.</p><ul><li>Base is comprised of a Segway RMP that operates in “tractor” mode, with a rear caster installed for passive balancing.</li><li>Array of three miniature laser rangefinders mounted just above ground level gives HERB 2.0 360-degree perception of obstacles that pose a hazard to navigation</li><li>Uses a popular RGB-D gaming camera to track humans in the environment, located offboard for a better view of the scene</li><li>Has an upward-facing infrared camera for localizing the base with respect to ceiling-mounted retro-reflective markers.</li><li>Also has three camera-based sensors for object recognition and localization. One of them is a monochrome gigabit-ethernet camera for recognizing household objects in the workspace.</li></ul>

Describes the project, the system and software architecture, the sensing, and Segway localization.

HERB: a home exploring robotic butler

HERB 2.0 manipulates its environment with a pair of Barrett 7-DOF WAM arms with Barrett hands. The WAM arms have proven themselves to be great choices for working alongside humans, due to their comparatively low mass, backdriveability, and hardware-implemented safety system.