Conference proceeding
DARPA Robotics Challenge: Towards a user-guided manipulation framework for high-DOF robots
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings, 2088
01 May 2014
Abstract
Conference Title: 2014 IEEE International Conference on Robotics and Automation (ICRA) Conference Start Date: 2014, May 31 Conference End Date: 2014, June 7 Conference Location: Hong Kong, China Supervision and teleoperation of high degree-of-freedom robots is a complex task due to environmental constraints such as obstacles and limited communication, as well as task specific requirements such as using more than one end-effector at the same time. In this work we present a supervision and teleoperation framework that allows an operator to see the surroundings of a robot in 3D, make necessary adjustments for a dual or single arm manipulation task, preview the task in simulation before execution, and finally execute the task on a real robot. The framework has been applied to the valve turning task of the DARPA Robotics Challenge on the PR2, Hubo2+, and DRCHubo robots.
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Details
- Title
- DARPA Robotics Challenge: Towards a user-guided manipulation framework for high-DOF robots
- Creators
- Nicholas AlunniHalit Bener SuayCalder Phillips-GrafflinJim MainpriceDmitry BerensonSonia ChernovaRobert W LindemanDaniel LofaroPaul Oh
- Publication Details
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings, 2088
- Publisher
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
- Resource Type
- Conference proceeding
- Language
- English
- Identifiers
- 991019348758304721