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Template-based manipulation in unstructured environments for supervised semi-autonomous humanoid robots
2014
2014 IEEE-RAS International Conference on Humanoid Robots
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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
2015
2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)
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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
2015
2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)
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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
2015
Journal of Field Robotics
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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
2014
2014 IEEE International Conference on Robotics and Automation (ICRA)
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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
2014
IEEE Intelligent Systems
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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
2016
Frontiers in Robotics and AI
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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
2016
Journal of Field Robotics
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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
2015
Journal of Field Robotics
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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
2014
Journal of Field Robotics
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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
2015
Engineering
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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
2022
Sensors
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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
2015
2015 IEEE International Conference on Robotics and Automation (ICRA)
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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
2017
Journal of Bionic Engineering
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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]
2016
Springer Handbook of Robotics
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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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