Kohlbrecher, Stefan ; Stumpf, Alexander ; Romay, Alberto ; Schillinger, Philipp ; Stryk, Oskar von ; Conner, David C. (2024)
A Comprehensive Software Framework for Complex Locomotion and Manipulation Tasks Applicable to Different Types of Humanoid Robots.
In: Frontiers in Robotics and AI, 2016, 3
doi: 10.26083/tuprints-00015733
Artikel, Zweitveröffentlichung, Verlagsversion
 | Es ist eine neuere Version dieses Eintrags verfügbar. |
Kurzbeschreibung (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.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2024 |
| Autor(en): | Kohlbrecher, Stefan ; Stumpf, Alexander ; Romay, Alberto ; Schillinger, Philipp ; Stryk, Oskar von ; Conner, David C. |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | A Comprehensive Software Framework for Complex Locomotion and Manipulation Tasks Applicable to Different Types of Humanoid Robots |
| Sprache: | Englisch |
| Publikationsjahr: | 5 März 2024 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | 7 Juni 2016 |
| Ort der Erstveröffentlichung: | Lausanne |
| Verlag: | Frontiers Media S.A. |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Frontiers in Robotics and AI |
| Jahrgang/Volume einer Zeitschrift: | 3 |
| Kollation: | 20 Seiten |
| DOI: | 10.26083/tuprints-00015733 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/15733 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichung DeepGreen |
| Kurzbeschreibung (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. |
| Freie Schlagworte: | urban search and rescue, humanoid robots, mobile manipulation, human–robot interaction, motion planning |
| ID-Nummer: | Artikel-ID: 31 |
| Status: | Verlagsversion |
| URN: | urn:nbn:de:tuda-tuprints-157335 |
| Zusätzliche Informationen: | This article is part of the Research Topic: Software Architectures for Humanoid Robotics Specialty section: This article was submitted to Humanoid Robotics, a section of the journal Frontiers in Robotics and AI |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 000 Allgemeines, Informatik, Informationswissenschaft > 004 Informatik 600 Technik, Medizin, angewandte Wissenschaften > 621.3 Elektrotechnik, Elektronik |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 05 Mär 2024 13:35 |
| Letzte Änderung: | 07 Mär 2024 09:34 |
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| Suche nach Titel in: | TUfind oder in Google |
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- A Comprehensive Software Framework for Complex Locomotion and Manipulation Tasks Applicable to Different Types of Humanoid Robots. (deposited 05 Mär 2024 13:35) [Gegenwärtig angezeigt]
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