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Toward a user-guided manipulation framework for high-DOF robots with limited communication
2013
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)
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This paper presents our progress toward a userguided manipulation framework for High Degree-of-Freedom robots operating in environments with limited communication. ...
We have performed quantitative experiments on these three components, and qualitative experiments of the entire pipeline with the PR2 robot rotating a valve for the DARPA Robotics Challenge. ...
ACKNOWLEDGEMENT This work was supported in part by the Defense Advanced Research Projects Agency (DARPA) award #N65236-12-1-1005 for the DARPA Robotics Challenge. ...
doi:10.1109/tepra.2013.6556356
dblp:conf/tepra/AlunniPSLBCLO13
fatcat:4p5zrzneu5clbdu4yrpjgw7cui
Toward a user-guided manipulation framework for high-DOF robots with limited communication
2014
Intelligent Service Robotics
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This paper presents our progress toward a userguided manipulation framework for High Degree-of-Freedom robots operating in environments with limited communication. ...
We have performed quantitative experiments on these three components, and qualitative experiments of the entire pipeline with the PR2 robot rotating a valve for the DARPA Robotics Challenge. ...
ACKNOWLEDGEMENT This work was supported in part by the Defense Advanced Research Projects Agency (DARPA) award #N65236-12-1-1005 for the DARPA Robotics Challenge. ...
doi:10.1007/s11370-014-0156-8
fatcat:hipw73g4jvhahiyybxzv2nlvqa
Team THOR's Entry in the DARPA Robotics Challenge Trials 2013
2015
Journal of Field Robotics
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This paper describes the technical approach, hardware design, and software algorithms that have been used by Team THOR in the DARPA Robotics Challenge (DRC) Trials 2013 competition. ...
These aspects allowed for efficient maintenance, quick reconfiguration, and most importantly, a relatively low build cost. ...
We would like to thank DARPA for the photographs of Trials. 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
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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The DARPA Robotics Challenge (DRC) requires teams to integrate mobility, manipulation, and perception to accomplish several disaster-response tasks. ...
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. ...
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
Designing the robot inclusive space challenge
2015
Digital Communications and Networks
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A novel robotic challenge, namely the robot inclusive spaces (RIS) challenge, is proposed in this paper, which is a cross disciplinary and design focused initiative. ...
Contrary to conventional robotics competitions focusing on designing robots and its component technologies, robot inclusive spaces challenge adopts an interdisciplinary "design for robots" strategy to ...
with two 7-DOF arms and several sensors [3] ; the mobile manipulation robot Care-o-bot, a robotic system with a 7-DOF lightweight arm and a 3-Finger gripping hand [4] ; REEM-B of PAL Robotics, a 140 ...
doi:10.1016/j.dcan.2015.09.005
fatcat:xedd2uz5oveila3bp4yytwdaou
Autonomous robots for harsh environments: a holistic overview of current solutions and ongoing challenges
2018
Systems Science & Control Engineering
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2018) Autonomous robots for harsh environments : a holistic overview of current solutions and ongoing challenges. Systems Science and Control Engineering, 6 (1). ...
A number of classes of robots emerge as particularly favoured by the research community for solving challenging problems in difficult environments. ...
The robot also possessed two 7-DOF arms used for manipulation purposes, and was tele-operated using a 3-dimensional visualization system developed on the Oculus Rift. ...
doi:10.1080/21642583.2018.1477634
fatcat:pkbtyuyy7vaizbuzkmsxs56lg4
From Autonomy to Cooperative Traded Control of Humanoid Manipulation Tasks with Unreliable Communication
2015
Journal of Intelligent and Robotic Systems
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We present a software framework for cooperative traded control that enables a team of operators to control a remote humanoid robot over an unreliable communication link. ...
In this paper, we present our system design, operational procedure, testing process, field results, and lessons learned for the valve-turning task of the DARPA Robotics Challenge (DRC). ...
Acknowledgments This work was supported in part by the Defense Advanced Research Projects Agency (DARPA) award #N65236-12-1-1005 for the DARPA Robotics Challenge. ...
doi:10.1007/s10846-015-0256-5
fatcat:ceszeavjafe3bbuvkbrew4ah2i
Fast, robust quadruped locomotion over challenging terrain
2010
2010 IEEE International Conference on Robotics and Automation
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We present a control architecture for fast quadruped locomotion over rough terrain. ...
We evaluate the performance of our controller by testing it on the LittleDog quadruped robot, over a wide variety of rough terrain of varying difficulty levels. ...
J.B. was supported by a prospective researcher fellowship from the Swiss National Science Foundation. ...
doi:10.1109/robot.2010.5509805
dblp:conf/icra/KalakrishnanBPMS10
fatcat:4to5mguxkzbnhfkakon4y46zme
Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A framework for whole-body manipulation
2015
2015 IEEE International Conference on Robotics and Automation (ICRA)
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Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURRO-GATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected ...
We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously ...
Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURRO-GATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected ...
doi:10.1109/icra.2015.7139969
dblp:conf/icra/HebertMBABHSKDB15
fatcat:oqffy2x3dvgs3m44kde2kobnoi
Learning, planning, and control for quadruped locomotion over challenging terrain
2010
The international journal of robotics research
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We present a control architecture for fast quadruped locomotion over rough terrain. ...
We evaluate the performance of our controller by testing it on the LittleDog quadruped robot, over a wide variety of rough terrains of varying difficulty levels. ...
program on Advanced Robotic Manipulation, the Army Research Office, the Okawa Foundation, and the ATR Computational Neuroscience Laboratories. ...
doi:10.1177/0278364910388677
fatcat:a5mpperoibcihch7knt6p7ibd4
Analysis and Observations from the First Amazon Picking Challenge
[article]
2017
arXiv
pre-print
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The challenge goal was to design an autonomous robot to pick items from a warehouse shelf. ...
This paper presents a overview of the inaugural Amazon Picking Challenge along with a summary of a survey conducted among the 26 participating teams. ...
Correll was supported by a NASA Early Career Faculty Fellowship. We are grateful for this support. O. ...
arXiv:1601.05484v3
fatcat:y5dhglxtcvamvmlnepb56u375a
Proceedings of the 1st Workshop on Robotics Challenges and Vision (RCV2013)
[article]
2014
arXiv
pre-print
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Proceedings of the 1st Workshop on Robotics Challenges and Vision (RCV2013) ...
As robotics researchers, we can clearly envision a general solution to the 2005 DARPA Grand Challenge that is vehicle-independent. ...
the fly, blind manipulation, and "sporadic user involvement" [35] . ...
arXiv:1402.3213v1
fatcat:4j5z3btyyfcelf4zjhihonu3na
Analysis and Observations From the First Amazon Picking Challenge
2018
IEEE Transactions on Automation Science and Engineering
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The challenge goal was to design an autonomous robot to pick items from a warehouse shelf. ...
This paper presents a overview of the inaugural Amazon Picking Challenge along with a summary of a survey conducted among the 26 participating teams. ...
Correll was supported by a NASA Early Career Faculty Fellowship. We are grateful for this support. O. ...
doi:10.1109/tase.2016.2600527
fatcat:fmugwnvdandgfpqm5x3hslvpjy
Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation
2019
2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)
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, RoboCup@Home, etc.), disaster recovery (e.g., DARPA Robotics Challenge), or coordinated manipulation tasks (e.g., Mohammed Bin Zayed International Robotics Competition). ...
PROBLEM FORMULATION The configuration for a robot manipulator with N DoF is commonly defined as q manipulator ∈ R N . ...
doi:10.1109/coase.2019.8843153
dblp:conf/case/MerktIYV19
fatcat:nr2f2zpdynccjmouz7wjargbki
Online, interactive user guidance for high-dimensional, constrained motion planning
[article]
2018
arXiv
pre-print
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We consider the problem of planning a collision-free path for a high-dimensional robot. ...
We demonstrate our approach for the case where the planning algorithm is Multi-Heuristic A* (MHA*) and the robot is a 34-DOF humanoid. ...
Acknowledgements This research was in part sponsored by ARL, under the Robotics CTA program grant W911NF-10-2-0016, and by NSF Grant IIS-1409549. ...
arXiv:1710.03873v3
fatcat:pngx273itfhtxdwtvn5waruqea
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