DARPA robotics challenge: Towards a user-guided manipulation framework for high-DOF robots
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2088, May, 2014
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.
BibTeX
@conference{Alunni-2014-126566,author = {Nicholas Alunni and Halit Bener Suay and Calder Phillips-Grafflin and Jim Mainprice and Dmitry Berenson and Sonia Chernova and Robert W. Lindeman and Daniel Lofaro and Paul Oh},
title = {DARPA robotics challenge: Towards a user-guided manipulation framework for high-DOF robots},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2014},
month = {May},
pages = {2088},
}
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