Journal article
From Autonomy to Cooperative Traded Control of Humanoid Manipulation Tasks with Unreliable Communication
Journal of intelligent & robotic systems, v 82(3-4), pp 341-361
01 Jun 2016
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
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). 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. Our system, composed of software modules running on-board the robot and on a remote workstation, allows the operators to specify the manipulation task in a straightforward manner. In addition, we have defined an operational procedure for the operators to manage the teleoperation task, designed to improve situation awareness and expedite task completion. Our testing process, consisting of hands-on intensive testing, remote testing, and remote practice runs , demonstrates that our framework is able to perform reliably and is resilient to unreliable network conditions. We analyze our approach, field tests, and experience at the DRC Trials and discuss lessons learned which may be useful for others when designing similar systems.
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Details
- Title
- From Autonomy to Cooperative Traded Control of Humanoid Manipulation Tasks with Unreliable Communication
- Creators
- Calder Phillips-Grafflin - Worcester Polytechnic InstituteHalit Bener Suay - Worcester Polytechnic InstituteJim Mainprice - Worcester Polytechnic InstituteNicholas Alunni - Worcester Polytechnic InstituteDaniel Lofaro - Drexel UniversityDmitry Berenson - Worcester Polytechnic InstituteSonia Chernova - Worcester Polytechnic InstituteRobert W. Lindeman - Worcester Polytechnic InstitutePaul Oh - Drexel University
- Publication Details
- Journal of intelligent & robotic systems, v 82(3-4), pp 341-361
- Publisher
- Springer Nature
- Number of pages
- 21
- Grant note
- N65236-12-1-1005 / Defense Advanced Research Projects Agency (DARPA); United States Department of Defense
- Resource Type
- Journal article
- Language
- English
- Web of Science ID
- WOS:000376095800002
- Scopus ID
- 2-s2.0-84940688331
- Other Identifier
- 991019348910704721
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- Collaboration types
- Domestic collaboration
- Web of Science research areas
- Computer Science, Artificial Intelligence
- Robotics