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A Comprehensive Software Framework for Complex Locomotion and Manipulation Tasks Applicable to Different Types of Humanoid Robots

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
Article, Secondary publication, Publisher's Version

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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: 2024
Creators: Kohlbrecher, Stefan ; Stumpf, Alexander ; Romay, Alberto ; Schillinger, Philipp ; Stryk, Oskar von ; Conner, David C.
Type of entry: Secondary publication
Title: A Comprehensive Software Framework for Complex Locomotion and Manipulation Tasks Applicable to Different Types of Humanoid Robots
Language: English
Date: 5 March 2024
Place of Publication: Darmstadt
Year of primary publication: 7 June 2016
Place of primary publication: Lausanne
Publisher: Frontiers Media S.A.
Journal or Publication Title: Frontiers in Robotics and AI
Volume of the journal: 3
Collation: 20 Seiten
DOI: 10.26083/tuprints-00015733
URL / URN: https://tuprints.ulb.tu-darmstadt.de/15733
Corresponding Links:
Origin: Secondary publication DeepGreen
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.

Uncontrolled Keywords: urban search and rescue, humanoid robots, mobile manipulation, human–robot interaction, motion planning
Identification Number: Artikel-ID: 31
Status: Publisher's Version
URN: urn:nbn:de:tuda-tuprints-157335
Additional Information:

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

Classification DDC: 000 Generalities, computers, information > 004 Computer science
600 Technology, medicine, applied sciences > 621.3 Electrical engineering, electronics
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 05 Mar 2024 13:35
Last Modified: 07 Mar 2024 09:34
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