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

Nicholas Alunni, Calder Phillips-Grafflin, Halit Bener Suay, Daniel Lofaro, Dmitry Berenson, Sonia Chernova, Robert W. Lindeman, Paul Oh
2013 2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)  
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

Calder Phillips-Grafflin, Nicholas Alunni, Halit Bener Suay, Jim Mainprice, Daniel Lofaro, Dmitry Berenson, Sonia Chernova, Robert W. Lindeman, Paul Oh
2014 Intelligent Service Robotics  
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

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  
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

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  
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

Rajesh Elara Mohan, Ning Tan, Katrine Tjoelsen, Ricardo Sosa
2015 Digital Communications and Networks  
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

Cuebong Wong, Erfu Yang, Xiu-Tian Yan, Dongbing Gu
2018 Systems Science & Control Engineering  
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

Calder Phillips-Grafflin, Halit Bener Suay, Jim Mainprice, Nicholas Alunni, Daniel Lofaro, Dmitry Berenson, Sonia Chernova, Robert W. Lindeman, Paul Oh
2015 Journal of Intelligent and Robotic Systems  
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

Mrinal Kalakrishnan, Jonas Buchli, Peter Pastor, Michael Mistry, Stefan Schaal
2010 2010 IEEE International Conference on Robotics and Automation  
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

Paul Hebert, Jeremy Ma, James Borders, Alper Aydemir, Max Bajracharya, Nicolas Hudson, Krishna Shankar, Sisir Karumanchi, Bertrand Douillard, Joel Burdick
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
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

Mrinal Kalakrishnan, Jonas Buchli, Peter Pastor, Michael Mistry, Stefan Schaal, Jonas Buchli, Jerry Pratt, Nicholas Roy
2010 The international journal of robotics research  
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]

Nikolaus Correll, Kostas E. Bekris, Dmitry Berenson, Oliver Brock, Albert Causo, Kris Hauser, Kei Okada, Alberto Rodriguez, Joseph M. Romano, Peter R. Wurman
2017 arXiv   pre-print
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]

Aitor Aladren, Sasa Bodiroza, Hamidreza Chitsaz, J.J. Guerrero, Verena Hafner, Kris Hauser, Aleksandar Jevtic, Moslem Kazemi, Bruno Lara, Gonzalo Lopez-Nicolas, Peer Neubert, Peter Protzel (+2 others)
2014 arXiv   pre-print
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

Nikolaus Correll, Kostas E. Bekris, Dmitry Berenson, Oliver Brock, Albert Causo, Kris Hauser, Kei Okada, Alberto Rodriguez, Joseph M. Romano, Peter R. Wurman
2018 IEEE Transactions on Automation Science and Engineering  
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

Wolfgang Merkt, Vladimir Ivan, Yiming Yang, Sethu Vijayakumar
2019 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)  
, 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]

Fahad Islam, Oren Salzman, Maxim Likhachev
2018 arXiv   pre-print
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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