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An Architecture for Online Affordance-based Perception and Whole-body Planning
2014
Journal of Field Robotics
The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor suite transmitted over a constrained, field-realistic communications link. 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
doi:10.1002/rob.21546
fatcat:nhzoal7evnehrjb3wqags7p6re