DARPA Robotics Challenge: Towards a user-guided manipulation framework for high-DOF robots

Author

Alunni, Nicholas ; Bener Suay, Halit ; Phillips-Grafflin, Calder ; Mainprice, Jim ; Berenson, Dmitry ; Chernova, Sonia ; Lindeman, Robert W. ; Lofaro, Daniel ; Oh, P.

Author_Institution

Worcester Polytech. Inst., Worcester, MA, USA

fYear

2014

fDate

May 31 2014-June 7 2014

Firstpage

2088

Lastpage

2088

Abstract

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.

Keywords

end effectors; telerobotics; DARPA robotics challenge; DRCHubo robots; Hubo2+ robots; PR2 robots; dual arm manipulation task; end-effector; high degree-of-freedom robots; high-DOF robot supervision; high-DOF robot teleoperation; single arm manipulation task; user-guided manipulation framework; valve turning task; Conferences; Educational institutions; Graphical user interfaces; Planning; Robot sensing systems; Three-dimensional displays;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2014 IEEE International Conference on

Conference_Location

Hong Kong

Type

conf

DOI

10.1109/ICRA.2014.6907141

Filename

6907141