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Template-Based Manipulation in Unstructured Environments for Supervised Semi-Autonomous Humanoid Robots

Romay, Alberto and Kohlbrecher, Stefan and Conner, D C. and Stumpf, Alexander and Stryk, Oskar von (2014):
Template-Based Manipulation in Unstructured Environments for Supervised Semi-Autonomous Humanoid Robots.
In: Proc. IEEE-RAS Intl. Conf. Humanoid Robots, [Conference or Workshop Item]

Abstract

Humanoid robotic manipulation in unstructured environments is a challenging problem. Limited perception, communications and environmental constraints present challenges that prevent fully autonomous or purely teleoperated robots from reliably interacting with their environment. In order to achieve higher reliability in manipulation we present an approach involving remote human supervision. Strengths from both human operator and humanoid robot are leveraged through a user interface that allows the operator to perceive the remote environment through an aggregated worldmodel based on onboard sensing, while the robot can efficiently receive perceptual and semantic information from the operator. A template based manipulation approach has been successfully applied to the Atlas humanoid robot; we show real world footage of the results obtained in the DARPA Robotics Challenge Trials 2013.

Item Type: Conference or Workshop Item
Erschienen: 2014
Creators: Romay, Alberto and Kohlbrecher, Stefan and Conner, D C. and Stumpf, Alexander and Stryk, Oskar von
Title: Template-Based Manipulation in Unstructured Environments for Supervised Semi-Autonomous Humanoid Robots
Language: English
Abstract:

Humanoid robotic manipulation in unstructured environments is a challenging problem. Limited perception, communications and environmental constraints present challenges that prevent fully autonomous or purely teleoperated robots from reliably interacting with their environment. In order to achieve higher reliability in manipulation we present an approach involving remote human supervision. Strengths from both human operator and humanoid robot are leveraged through a user interface that allows the operator to perceive the remote environment through an aggregated worldmodel based on onboard sensing, while the robot can efficiently receive perceptual and semantic information from the operator. A template based manipulation approach has been successfully applied to the Atlas humanoid robot; we show real world footage of the results obtained in the DARPA Robotics Challenge Trials 2013.

Title of Book: Proc. IEEE-RAS Intl. Conf. Humanoid Robots
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Identification Number: 2014:Humanoids-Romay
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