DocumentCode :
1693976
Title :
Manipulation in Human Environments
Author :
Edsinger, Aaron ; Kemp, Charles C.
Author_Institution :
Comput. Sci. & Artificial Intelligence Lab., Massachusetts Inst. of Technol., Cambridge, MA
fYear :
2006
Firstpage :
102
Lastpage :
109
Abstract :
Robots that work alongside us in our homes and workplaces could extend the time an elderly person can live at home, provide physical assistance to a worker on an assembly line, or help with household chores. In order to assist us in these ways, robots will need to successfully perform manipulation tasks within human environments. Human environments present special challenges for robot manipulation since they are complex, dynamic, uncontrolled, and difficult to perceive reliably. In this paper we present a behavior-based control system that enables a humanoid robot, Domo, to help a person place objects on a shelf. Domo is able to physically locate the shelf, socially cue a person to hand it an object, grasp the object that has been handed to it, transfer the object to the hand that is closest to the shelf, and place the object on the shelf. We use this behavior-based control system to illustrate three themes that characterize our approach to manipulation in human environments. The first theme, cooperative manipulation, refers to the advantages that can be gained by having the robot work with a person to cooperatively perform manipulation tasks. The second theme, task relevant features, emphasizes the benefits of carefully selecting the aspects of the world that are to be perceived and acted upon during a manipulation task. The third theme, let the body do the thinking, encompasses several ways in which a robot can use its body to simplify manipulation tasks.
Keywords :
humanoid robots; man-machine systems; manipulators; path planning; Domo humanoid robot; behavior-based control system; cooperative manipulation; human environment; object grasping; person-robot cooperation; robot manipulation; task relevant features; Books; Computer science; Control systems; Employment; Humanoid robots; Humans; Manipulator dynamics; Mobile robots; Robotic assembly; Senior citizens;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Humanoid Robots, 2006 6th IEEE-RAS International Conference on
Conference_Location :
Genova
Print_ISBN :
1-4244-0200-X
Electronic_ISBN :
1-4244-0200-X
Type :
conf
DOI :
10.1109/ICHR.2006.321370
Filename :
4115587
Link To Document :
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