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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
Artikel, Zweitveröffentlichung, Verlagsversion

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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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