Paper Info
Title
Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A framework for whole-body manipulation
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.
Year
DOI
Venue
2015
10.1109/ICRA.2015.7139969
IEEE International Conference on Robotics and Automation
Keywords
Field
DocType
cognition,manipulators,telerobotics,SURROGATE,autonomous systems,high level human cognitive capabilty,high-level supervisory commands,human-in-the-loop mode,pan-tilt perception head,robotics platforms,single 7-DOF torso,supervised remote robot with guided autonomy and teleoperation,tracked-wheel base,two 7-DOF arms,whole body manipulation tasks
Teleoperation,Torso,Social robot,Kinematics,Autonomy,Control engineering,Artificial intelligence,Autonomous system (Internet),Engineering,Robot,Robotics
Conference
Volume
Issue
ISSN
2015
1
1050-4729
Citations 
PageRank 
References 
3
0.66
11
Authors
4
Name
Order
Citations
PageRank
Hebert, P.130.66
Ma, J.230.66
Burdick, J.W.32988516.87
Aydemir, A.430.66