project specification

HERB 2

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.

Overview

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.

  • Base is comprised of a Segway RMP that operates in “tractor” mode, with a rear caster installed for passive balancing.
  • 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
  • Uses a popular RGB-D gaming camera to track humans in the environment, located offboard for a better view of the scene
  • Has an upward-facing infrared camera for localizing the base with respect to ceiling-mounted retro-reflective markers.
  • 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.

References

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

Siddhartha S. Srinivasa·Dave Ferguson·Casey J. Helfrich, et al. - 2009.

Wevolver 2022