Vasilopoulos, VasileiosTopping, T. TurnerVega-Brown, WilliamKoditschek, Daniel E.Roy, Nicholas2023-05-222023-05-222018-10-012018-07-25https://repository.upenn.edu/handle/20.500.14332/34078We demonstrate the physical rearrangement of wheeled stools in a moderately cluttered indoor environment by a quadrupedal robot that autonomously achieves a user's desired configuration. The robot's behaviors are planned and executed by a three layer hierarchical architecture consisting of: an offline symbolic task and motion planner; a reactive layer that tracks the reference output of the deliberative layer and avoids unanticipated obstacles sensed online; and a gait layer that realizes the abstract unicycle commands from the reactive module through appropriately coordinated joint level torque feedback loops. This work also extends prior formal results about the reactive layer to a broad class of nonconvex obstacles. Our design is verified both by formal proofs as well as empirical demonstration of various assembly tasks. For more information: Kod*labyoutubeThis material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.GRASPKodlabreactive and sensor-based planninglegged robotstask planningcollision avoidanceElectrical and Computer EngineeringEngineeringSystems EngineeringPresentation