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Author Hebert, P. ♦ Ma, J. ♦ Borders, J. ♦ Aydemir, A. ♦ Bajracharya, M. ♦ Hudson, N. ♦ Shankar, K. ♦ Karumanchi, S. ♦ Douillard, B. ♦ Burdick, J.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2015
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Robots ♦ Iterative closest point algorithm ♦ Planning ♦ Computational modeling ♦ Collision avoidance ♦ Cameras ♦ Kinematics
Abstract The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called “supervised-autonomy” is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a “Supervised Remote Robot with Guided Autonomy and Teleoperation” (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of “behaviors” to chain together sequences of “actions” for the robot to perform which is then executed real time.
Description Author affiliation: California Inst. of Technol., Pasadena, CA, USA (Shankar, K.; Burdick, J.) || Jet Propulsion Lab., Pasadena, CA, USA (Hebert, P.; Ma, J.; Borders, J.; Aydemir, A.; Bajracharya, M.; Hudson, N.; Karumanchi, S.; Douillard, B.)
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2015-05-26
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781479969234
Size (in Bytes) 1.26 MB
Page Count 8
Starting Page 5509
Ending Page 5516

Source: IEEE Xplore Digital Library