Programming-Free Manipulation-in-the-Box Solution for Autonomous IVA

The goal of this project is to make a series of manipulationnbsp;algorithms for bin picking, object recognition, pose estimation, and assembly as well as a STRIPS-like task planner available as a quot;manipulation-in-a-boxquot; solution that can be integrated with existing robots, such as Robonaut 2, via a ROS interface.nbsp;In Phase I, this integration will be demonstrated using the Gazebo simulation environment in a manufacturing environment containing a dual-arm torso, a gantry system, and multiple 3D perception sensors, and optionally, on the official Robonaut 2 simulator, pending a software usage agreement. We will demonstrate a series of sensor-based mobile manipulation tasks such as a kitting task under varying levels of sensor noise and dynamic mission conditions. Here, the manipulation-in-a-box solution leverages the robot#39;s on-board sensors, but performs all necessary computations with an energy footprint of less than 10W.nbsp;The final deliverable is a complete manipulation solution that can be configured using a browser and interface with either a simulator or real hardware via ROS.nbsp;