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A comprehensive software framework for complex locomotion and manipulation tasks applicable to different types of humanoid robots

Stumpf, Alexander and Kohlbrecher, Stefan and Romay, Alberto and Schillinger, Philipp and Stryk, Oskar von and Conner, D C. (2016):
A comprehensive software framework for complex locomotion and manipulation tasks applicable to different types of humanoid robots.
In: Frontiers in Robotics and AI, ISSN 2296-9144,
DOI: 10.3389/frobt.2016.00031,
[Online-Edition: http://journal.frontiersin.org/article/10.3389/frobt.2016.00...],
[Article]

Abstract

While recent advances in approaches for control of humanoid robot systems show promising results, consideration of fully integrated humanoid systems for solving complex tasks, such as disaster response, has only recently gained focus. In this paper, a software framework for humanoid disaster response robots is introduced. It provides newcomers as well as experienced researchers in humanoid robotics a comprehensive system comprising open source packages for locomotion, manipulation, perception, world modeling, behavior control, and operator interaction. The system uses the Robot Operating System (ROS) as a middleware, which has emerged as a de facto standard in robotics research in recent years. The described architecture and components allow for flexible interaction between operator(s) and robot from teleoperation to remotely supervised autonomous operation while considering bandwidth constraints. The components are self-contained and can be used either in combination with others or standalone. They have been developed and evaluated during participation in the DARPA Robotics Challenge, and their use for different tasks and parts of this competition are described.

Item Type: Article
Erschienen: 2016
Creators: Stumpf, Alexander and Kohlbrecher, Stefan and Romay, Alberto and Schillinger, Philipp and Stryk, Oskar von and Conner, D C.
Title: A comprehensive software framework for complex locomotion and manipulation tasks applicable to different types of humanoid robots
Language: English
Abstract:

While recent advances in approaches for control of humanoid robot systems show promising results, consideration of fully integrated humanoid systems for solving complex tasks, such as disaster response, has only recently gained focus. In this paper, a software framework for humanoid disaster response robots is introduced. It provides newcomers as well as experienced researchers in humanoid robotics a comprehensive system comprising open source packages for locomotion, manipulation, perception, world modeling, behavior control, and operator interaction. The system uses the Robot Operating System (ROS) as a middleware, which has emerged as a de facto standard in robotics research in recent years. The described architecture and components allow for flexible interaction between operator(s) and robot from teleoperation to remotely supervised autonomous operation while considering bandwidth constraints. The components are self-contained and can be used either in combination with others or standalone. They have been developed and evaluated during participation in the DARPA Robotics Challenge, and their use for different tasks and parts of this competition are described.

Journal or Publication Title: Frontiers in Robotics and AI
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 29 Nov 2018 08:24
DOI: 10.3389/frobt.2016.00031
Official URL: http://journal.frontiersin.org/article/10.3389/frobt.2016.00...
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