DARPA Autonomous Robotic Manipulation Project

The DARPA ARM-S program aimed to develop software to autonomously complete complex manipulation tasks, As a member of the CMU/NREC team for Phase II of the project, I developed manipulation and perception techniques necessary to complete tasks such as changing a tire or cutting a wire.

One key challenge of the project was developing techniques to cope with proprioceptive and perceptual uncertainty. We used a variety of techniques, including: visual servoing, real-time markerless arm tracking, touch-based localization, compliant grasping, and hierarchies of motion planners to improve reliability.

The software developed by our team powered a live demo in the Moving Beyond Earth gallery of the Smithsonian National Air and Space Museum.