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Toward a user-guided manipulation framework for high-DOF robots with limited communication

Zeitschrift:: Intelligent Service Robotics > Ausgabe 3/2014

Autoren:: Calder Phillips-Grafflin, Nicholas Alunni, Halit Bener Suay, Jim Mainprice, Daniel Lofaro, Dmitry Berenson, Sonia Chernova, Robert W. Lindeman, Paul Oh

Abstract

This paper presents our progress toward a user-guided manipulation framework for high degree-of-freedom robots operating in environments with limited communication. The system we propose consists of three components: (1) a user-guided perception interface that assists the user in providing task-level commands to the robot, (2) planning algorithms that autonomously generate robot motion while obeying relevant constraints, and (3) a trajectory execution and monitoring system which detects errors in execution. We report quantitative experiments performed on these three components and qualitative experiments of the entire pipeline with the PR2 robot turning a valve for the DARPA robotics challenge. We also describe how the framework was ported to the Hubo2+ robot with minimal changes which demonstrates its applicability to different types of robots.

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Titel: Toward a user-guided manipulation framework for high-DOF robots with limited communication
Autoren:: Calder Phillips-Grafflin
Nicholas Alunni
Halit Bener Suay
Jim Mainprice
Daniel Lofaro
Dmitry Berenson
Sonia Chernova
Robert W. Lindeman
Paul Oh
Publikationsdatum: 01.07.2014
DOI: https://doi.org/10.1007/s11370-014-0156-8
Verlag: Springer Berlin Heidelberg
Zeitschrift: Intelligent Service Robotics
Ausgabe 3/2014
Print ISSN: 1861-2776
Elektronische ISSN: 1861-2784

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