Paper Info
Title
DARPA Robotics Challenge: Towards a user-guided manipulation framework for high-DOF robots
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.
Year
DOI
Venue
2014
10.1109/ICRA.2014.6907141
Robotics and Automation
Keywords
Field
DocType
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
Teleoperation,Motion planning,Robot control,Control engineering,Graphical user interface,Artificial intelligence,Engineering,Robot,Mobile robot,Arm solution,Robotics
Conference
ISSN
Citations 
PageRank 
1050-4729
0
0.34
References 
Authors
0
11
Name
Order
Citations
PageRank
Nicholas Alunni121.42
Halit Bener Suay21098.61
Calder Phillips-Grafflin392.44
Jim Mainprice414012.93
Dmitry Berenson593660.97
Sonia Chernova6141393.36
Robert W. Lindeman7739108.93
Daniel M. Lofaro8248.33
Paul Y. Oh928951.08
Bener Suay, H.1000.34
Phillips-Grafflin, C.1100.34