PR2s

PR2s are mobile manipulation robots developed by Willow Garage for robotics research and development in domestic and laboratory settings. The platform was designed to perform a range of tasks that require both mobility and manipulation, such as reaching, grasping, and manipulating objects in cluttered environments. A typical PR2 features a wheeled base for indoor navigation, two articulated arms ending in two-finger parallel grippers, and a diverse sensor suite for perception and contact sensing. The hardware is built around a modular chassis with an onboard computer, and the platform is intended to be programmable and extensible for researchers.

Software and capabilities: The PR2 runs the Robot Operating System (ROS) along with a custom software stack for perception, planning, and control. It supports autonomous navigation, mapping and localization, object recognition, grasp planning, and manipulation with contact. The design emphasizes safety, reprogrammability, and the ability to perform long-running experiments without human intervention. The open hardware and software approach encouraged widespread use and modification by the robotics community.

Impact and legacy: Since its introduction, PR2s were deployed in many universities and research labs worldwide and contributed to advances in mobile manipulation, household robotics, and cloud-based robotics research. The project helped develop and popularize ROS tooling, benchmarking standards, and collaborative research practices. Though Willow Garage ceased operations in the mid-2010s, the PR2's influence persists in modern research platforms and in the ongoing emphasis on open-source robotics.