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Template-based manipulation in unstructured environments for supervised semi-autonomous humanoid robots

Alberto Romay, Stefan Kohlbrecher, David C. Conner, Alexander Stumpf, Oskar von Stryk
2014 2014 IEEE-RAS International Conference on Humanoid Robots  
Limited perception, communications and environmental constraints present challenges that prevent fully autonomous or purely teleoperated robots from reliably interacting with their environment.  ...  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.  ...  While a lot of research has been performed for autonomous humanoid robots in structured environments with impressive results [16] , [21] , fewer results have been obtained for humanoid robots in unstructured  ... 
doi:10.1109/humanoids.2014.7041482 dblp:conf/humanoids/RomayKCSS14 fatcat:3s3jhwoojbeirninlxdeiayqom

Achieving versatile manipulation tasks with unknown objects by supervised humanoid robots based on object templates

Alberto Romay, Stefan Kohlbrecher, David C. Conner, Oskar von Stryk
2015 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)  
For an Atlas humanoid robot it is demonstrated how using a small set of such object templates with well defined affordances can be used to solve manipulation tasks using new unknown objects.  ...  A recently proposed object template manipulation approach is extended to provide a semi-autonomous humanoid robot assisted by a remote human supervisor with the versatility needed to utilize objects in  ...  Overview We participated in the DRC as Team ViGIR 1 with the highly advanced humanoid robot Atlas shown in Fig. 1 .  ... 
doi:10.1109/humanoids.2015.7363543 dblp:conf/humanoids/RomayKCS15 fatcat:fubnnrpav5dr7hqsfee3wvjo4i

No falls, no resets: Reliable humanoid behavior in the DARPA robotics challenge

C. G. Atkeson, B. P. W. Babu, N. Banerjee, D. Berenson, C. P. Bove, X. Cui, M. DeDonato, R. Du, S. Feng, P. Franklin, M. Gennert, J. P. Graff (+11 others)
2015 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)  
We describe Team WPI-CMU's approach to the DARPA Robotics Challenge (DRC), focusing on our strategy to avoid failures that required physical human intervention.  ...  We expected bipedal robots to have trouble in the DRC. We used an Atlas humanoid robot built by Boston Dynamics.  ...  Valve: The valve task involved approaching and turning a valve ( Figure 6 ). The robot was manually commanded to go to the vicinity of the valve.  ... 
doi:10.1109/humanoids.2015.7363436 dblp:conf/humanoids/AtkesonBBBBCDDF15 fatcat:a3ngxnyf2fhedoy5swwhq3w544

Human-in-the-loop Control of a Humanoid Robot for Disaster Response: A Report from the DARPA Robotics Challenge Trials

Mathew DeDonato, Velin Dimitrov, Ruixiang Du, Ryan Giovacchini, Kevin Knoedler, Xianchao Long, Felipe Polido, Michael A. Gennert, Taşkın Padır, Siyuan Feng, Hirotaka Moriguchi, Eric Whitman (+2 others)
2015 Journal of Field Robotics  
We describe our hardware choices and software architecture, which enable human-in-the-loop control of a 28 degree-of-freedom ATLAS humanoid robot over a limited bandwidth link.  ...  The DARPA Robotics Challenge (DRC) requires teams to integrate mobility, manipulation, and perception to accomplish several disaster-response tasks.  ...  ACKNOWLEDGMENTS This work is sponsored by the Defense Advanced Research Project Agency, DARPA Robotics Challenge Program under Contract No. HR0011-14-C-0011.  ... 
doi:10.1002/rob.21567 fatcat:srcvqx45kvcibbskr53xuul6xq

A summary of team MIT's approach to the virtual robotics challenge

R. Tedrake, M. Fallon, S. Karumanchi, S. Kuindersma, M. Antone, T. Schneider, T. Howard, M. Walter, H. Dai, R. Deits, M. Fleder, D. Fourie (+14 others)
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
The VRC required teams to guide a model of Boston Dynamics' humanoid robot, Atlas, through driving, walking, and manipulation tasks in simulation.  ...  The manipulation framework readily supported operations such as lifting a hose nozzle and turning a wall-mounted valve.  ...  The VRC required teams to guide a model of Boston Dynamics' humanoid robot, Atlas, through driving, walking, and manipulation tasks in simulation.  ... 
doi:10.1109/icra.2014.6907140 dblp:conf/icra/TedrakeFKKASHWDDFFHHIPPVCDEJKSIT14 fatcat:pgdgaztfnvfddnrj3bcg2wsspi

Seven Cardinal Virtues of Human-Machine Teamwork: Examples from the DARPA Robotic Challenge

Matthew Johnson, Jeffrey M. Bradshaw, Robert R. Hoffman, Paul J. Feltovich, David D. Woods
2014 IEEE Intelligent Systems  
We illustrate these principles and their resultant virtues by drawing on lessons learned in the US Defense Advanced Research Projects Agency (DARPA) Robotics Challenge (DRC).  ...  T his article plays counterpoint to our previous discussions of the "seven deadly myths" of autonomous systems. 1,2 The seven deadly myths are common design misconceptions to be acknowledged  ...  As an example, in DRC we pursued an autonomous valve-turning capability.  ... 
doi:10.1109/mis.2014.100 fatcat:xzkzark2yret7obmdlqcb7tlq4

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

Stefan Kohlbrecher, Alexander Stumpf, Alberto Romay, Philipp Schillinger, Oskar von Stryk, David C. Conner
2016 Frontiers in Robotics and AI  
In this paper, a software framework for humanoid disaster response robots is introduced.  ...  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  ...  Figure 13 shows a screenshot of this editor displaying a behavior as used for the DRC task of turning the valve.  ... 
doi:10.3389/frobt.2016.00031 fatcat:4wjx7zaoaffpliak4iilu4cowe

Director: A User Interface Designed for Robot Operation with Shared Autonomy

Pat Marion, Maurice Fallon, Robin Deits, Andrés Valenzuela, Claudia Pérez D'Arpino, Greg Izatt, Lucas Manuelli, Matt Antone, Hongkai Dai, Twan Koolen, John Carter, Scott Kuindersma (+1 others)
2016 Journal of Field Robotics  
With these principles in mind, we present the philosophy and design decisions behind Director -the open-source user interface developed by Team MIT to pilot the Atlas robot in the DARPA Robotics Challenge  ...  By contrast, an unintuitive user interface can increase the risk of catastrophic operator error by overwhelming the user with unnecessary information.  ...  of operating a humanoid robot -which in turn allowed us to more efficiently execute the DRC tasks.  ... 
doi:10.1002/rob.21681 fatcat:5p3t754ag5bcfaaepzbhqa3wde

Team THOR's Entry in the DARPA Robotics Challenge Trials 2013

Seung-Joon Yi, Stephen G. McGill, Larry Vadakedathu, Qin He, Inyong Ha, Jeakweon Han, Hyunjong Song, Michael Rouleau, Byoung-Tak Zhang, Dennis Hong, Mark Yim, Daniel D. Lee
2015 Journal of Field Robotics  
pursued modularity in the software, which consisted of a hybrid locomotion engine, a hierarchical arm controller, and a platform-independent remote operator interface. yielded multiple control options with  ...  The hardware of THOR-OP (Tactical Hazardous Operations Robot-Open Platform) consists of standardized, advanced actuators and structural components.  ...  We would also like to thank Taylor Presek from Virginia Tech for sharing some of the photographs of our robot from the Trials.  ... 
doi:10.1002/rob.21555 fatcat:mwjjxas5ubgf7ggsfm4nl4c7ba

An Architecture for Online Affordance-based Perception and Whole-body Planning

Maurice Fallon, Scott Kuindersma, Sisir Karumanchi, Matthew Antone, Toby Schneider, Hongkai Dai, Claudia Pérez D'Arpino, Robin Deits, Matt DiCicco, Dehann Fourie, Twan Koolen, Pat Marion (+7 others)
2014 Journal of Field Robotics  
We describe the design considerations, architecture, implementation, and performance of the software that Team MIT developed to command and control an Atlas humanoid robot.  ...  Our design emphasized human interaction with an efficient motion planner, where operators expressed desired robot actions in terms of affordances fit using perception and manipulated in a custom user interface  ...  We are also grateful to Boston Dynamics, Carnegie Robotics, the Open Source Robotics Foundation, iRobot Corporation, and Sandia National Laboratories for their support during the DRC.  ... 
doi:10.1002/rob.21546 fatcat:nhzoal7evnehrjb3wqags7p6re

DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking

Hongfei Wang, Shimeng Li, Yuan F. Zheng
2015 Engineering  
We also introduce a new gait for humanoid robot locomotion to improve stability performance, called the Ski-Type gait.  ...  Based on the stability and force/torque analysis, we design a cane length to support a feasible and stable Crawl-2 gait on the HUBO2 humanoid robot platform.  ...  Moreover, seven track-B/C teams are given an Atlas robot for the competition.  ... 
doi:10.15302/j-eng-2015006 fatcat:w7fttucpnjdink5gusdghotvyy

Carved Turn Control with Gate Vision Recognition of a Humanoid Robot for Giant Slalom Skiing on Ski Slopes

Cheonyu Park, Baekseok Kim, Yitaek Kim, Younseal Eum, Hyunjong Song, Dongkuk Yoon, Jeongin Moon, Jeakweon Han
2022 Sensors  
Along with the 2018 Winter Olympics in Pyeongchang, a Skiing Robot Competition was held in which humanoid robots participated autonomously in a giant slalom alpine skiing competition.  ...  Thus, the performance of the humanoid robot DIANA was established using the carved turn in an experiment on an actual ski slope.  ...  In addition, unlike previous studies, a humanoid robot with a height of 1.23 m and 23-DOF was used to autonomously complete actual giant slalom skiing tasks with carved turns, similar to human skiers on  ... 
doi:10.3390/s22030816 pmid:35161561 pmcid:PMC8838643 fatcat:mnd5iu35bfgc5agycna3k7b6b4

The Affordance Template ROS package for robot task programming

Stephen Hart, Paul Dinh, Kimberly Hambuchen
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing  ...  As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulationbased applications.  ...  Fig. 2 . 2 Placing a wheel-turning AT in RViz for use with the Valkyrie robot. Fig. 3 . 3 Valkyrie turning a valve using a wheel-turning template.  ... 
doi:10.1109/icra.2015.7140073 dblp:conf/icra/HartDH15 fatcat:dc3fc56jbzccdggmemqryapu2e

Overview of Gait Synthesis for the Humanoid COMAN

Chengxu Zhou, Xin Wang, Zhibin Li, Nikos Tsagarakis
2017 Journal of Bionic Engineering  
This paper presents the development of a generic gait synthesis for the humanoid robot COMAN.  ...  Three types of real experiments were studied in an increasing complexity to demonstrate the effectiveness and successful implementation of the proposed gait synthesis on a real humanoid.  ...  Acknowledgment The authors would like to thank all members in the humanoid lab of the Advanced Robotics Dept. of IIT for their excellent support during this research.  ... 
doi:10.1016/s1672-6529(16)60373-6 fatcat:touwrdupj5corp5hxehq73kd7y

Humanoids [chapter]

Paul Fitzpatrick, Kensuke Harada, Charles C. Kemp, Yoshio Matsumoto, Kazuhito Yokoi, Eiichi Yoshida
2016 Springer Handbook of Robotics  
Notably, DARPA plans for some teams to compete using Atlas humanoid robots from Boston Dynamics Fig. 67 .6. Human Interaction People are accustomed to working with other people.  ...  for entertainment, telepresence, and media roles Fig. 67. 6 6 Atlas robot provided as a platform for the DARPA Robotics Challenge (courtesy Boston Dynamics) Fig. 67. 7 7 Petman is a humanoid robot  ... 
doi:10.1007/978-3-319-32552-1_67 fatcat:xgkavbgzmbae7mo4wjdrmivkdu
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