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Journal article
Toward a user-guided manipulation framework for high-DOF robots with limited communication
Intelligent service robotics, v 7(3)
01 Jul 2014
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
This paper presents our progress toward a user-guided manipulation framework for high degree-of-freedom robots operating in environments with limited communication. The system we propose consists of three components: (1) a user-guided perception interface that assists the user in providing task-level commands to the robot, (2) planning algorithms that autonomously generate robot motion while obeying relevant constraints, and (3) a trajectory execution and monitoring system which detects errors in execution. We report quantitative experiments performed on these three components and qualitative experiments of the entire pipeline with the PR2 robot turning a valve for the DARPA robotics challenge. We also describe how the framework was ported to the Hubo2+robot with minimal changes which demonstrates its applicability to different types of robots.
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Details
- Title
- Toward a user-guided manipulation framework for high-DOF robots with limited communication
- Creators
- Calder Phillips-Grafflin - Worcester Polytechnic InstituteNicholas Alunni - Worcester Polytechnic InstituteHalit Bener Suay - Worcester Polytechnic InstituteJim Mainprice - Worcester Polytechnic InstituteDaniel Lofaro - Drexel UniversityDmitry Berenson - Worcester Polytechnic InstituteSonia Chernova - Worcester Polytechnic InstituteRobert W. Lindeman - Worcester Polytechnic InstitutePaul Oh - Drexel University
- Publication Details
- Intelligent service robotics, v 7(3)
- Publisher
- Springer Nature
- Number of pages
- 11
- 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:000342418400001
- Scopus ID
- 2-s2.0-84904444142
- Other Identifier
- 991019348759104721
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- Collaboration types
- Domestic collaboration
- Web of Science research areas
- Robotics