Paper Info
Title
Supervised Autonomous Locomotion And Manipulation For Disaster Response With A Centaur-Like Robot
Abstract
Mobile manipulation tasks are one of the key challenges in the field of search and rescue (SAR) robotics requiring robots with flexible locomotion and manipulation abilities. Since the tasks are mostly unknown in advance, the robot has to adapt to a wide variety of terrains and workspaces during a mission. The centaur-like robot Centauro has a hybrid legged-wheeled base and an anthropomorphic upper body to carry out complex tasks in environments too dangerous for humans. Due to its high number of degrees of freedom, controlling the robot with direct teleoperation approaches is challenging and exhausting. Supervised autonomy approaches are promising to increase quality and speed of control while keeping the flexibility to solve unknown tasks. We developed a set of operator assistance functionalities with different levels of autonomy to control the robot for challenging locomotion and manipulation tasks. The integrated system was evaluated in disaster response scenarios and showed promising performance.
Year
DOI
Venue
2018
10.1109/IROS.2018.8594509
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
DocType
Volume
ISSN
Conference
abs/1809.06802
2153-0858
Citations 
PageRank 
References 
1
0.35
0
Authors
7
Name
Order
Citations
PageRank
Tobias Klamt151.16
Rodriguez, D.286.68
Max Schwarz310614.96
Christian Lenz4376.93
Dmytro Pavlichenko5105.76
David Droeschel629221.76
Sven Behnke71672181.84