An Architecture for Online Affordance-based Perception and Whole-body Planning
The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor suite transmitted over a constrained, field‐realistic communications link....
Gespeichert in:
| Veröffentlicht in: | Journal of field robotics 2015-03, Vol.32 (2), p.229-254 |
|---|---|
| Hauptverfasser: | , , , , , , , , , , , , , , , , , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 254 |
|---|---|
| container_issue | 2 |
| container_start_page | 229 |
| container_title | Journal of field robotics |
| container_volume | 32 |
| creator | Fallon, Maurice Kuindersma, Scott Karumanchi, Sisir Antone, Matthew Schneider, Toby Dai, Hongkai D'Arpino, Claudia Pérez Deits, Robin DiCicco, Matt Fourie, Dehann Koolen, Twan Marion, Pat Posa, Michael Valenzuela, Andrés Yu, Kuan-Ting Shah, Julie Iagnemma, Karl Tedrake, Russ Teller, Seth |
| description | The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor suite transmitted over a constrained, field‐realistic communications link. We describe the design considerations, architecture, implementation, and performance of the software that Team MIT developed to command and control an Atlas humanoid robot. Our design emphasized human interaction with an efficient motion planner, where operators expressed desired robot actions in terms of affordances fit using perception and manipulated in a custom user interface. We highlight several important lessons we learned while developing our system on a highly compressed schedule. |
| doi_str_mv | 10.1002/rob.21546 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_cross</sourceid><recordid>TN_cdi_proquest_miscellaneous_1677919602</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>3589283741</sourcerecordid><originalsourceid>FETCH-LOGICAL-c4696-e005f096b10ca6f2f614d0acaf273bcd5b1d06c0e33953c42f46cd00e9d72ce3</originalsourceid><addsrcrecordid>eNp10MtOGzEUBuARKhIpdNE3GKmbdjHheHwZvAyUmxQltELN0vLYx2ToYKf2RJC3xyWQBRIr2zrfbx39RfGVwJgA1McxtOOacCb2ihHhXFRMiubT7s7lQfE5pXsARk8kHxWziS8n0Sy7Ac2wjli6EMu57zuP5cTlh9XeYNXqhLa8wWhwNXTBl9rbcrEMfR4Fuylveu195--Oin2n-4RfXs_D4vbi_PbsqprOL6_PJtPKMCFFhQDcgRQtAaOFq50gzII22tUNbY3lLbEgDCClklPDaseEsQAobVMbpIfF9-23qxj-rTEN6qFLBvu8BYZ1UkQ0jSRSQJ3pt3f0Pqyjz8tlxZmkhEGT1Y-tMjGkFNGpVewedNwoAup_sSoXq16KzfZ4ax-7HjcfQ_V7fvqWqLaJLg34tEvo-FeJhjZcLWaXql5MZz9_nc7UH_oMgleIbg</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>1654931407</pqid></control><display><type>article</type><title>An Architecture for Online Affordance-based Perception and Whole-body Planning</title><source>Wiley Online Library Journals Frontfile Complete</source><creator>Fallon, Maurice ; Kuindersma, Scott ; Karumanchi, Sisir ; Antone, Matthew ; Schneider, Toby ; Dai, Hongkai ; D'Arpino, Claudia Pérez ; Deits, Robin ; DiCicco, Matt ; Fourie, Dehann ; Koolen, Twan ; Marion, Pat ; Posa, Michael ; Valenzuela, Andrés ; Yu, Kuan-Ting ; Shah, Julie ; Iagnemma, Karl ; Tedrake, Russ ; Teller, Seth</creator><creatorcontrib>Fallon, Maurice ; Kuindersma, Scott ; Karumanchi, Sisir ; Antone, Matthew ; Schneider, Toby ; Dai, Hongkai ; D'Arpino, Claudia Pérez ; Deits, Robin ; DiCicco, Matt ; Fourie, Dehann ; Koolen, Twan ; Marion, Pat ; Posa, Michael ; Valenzuela, Andrés ; Yu, Kuan-Ting ; Shah, Julie ; Iagnemma, Karl ; Tedrake, Russ ; Teller, Seth</creatorcontrib><description>The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor suite transmitted over a constrained, field‐realistic communications link. We describe the design considerations, architecture, implementation, and performance of the software that Team MIT developed to command and control an Atlas humanoid robot. Our design emphasized human interaction with an efficient motion planner, where operators expressed desired robot actions in terms of affordances fit using perception and manipulated in a custom user interface. We highlight several important lessons we learned while developing our system on a highly compressed schedule.</description><identifier>ISSN: 1556-4959</identifier><identifier>EISSN: 1556-4967</identifier><identifier>DOI: 10.1002/rob.21546</identifier><language>eng</language><publisher>Hoboken: Blackwell Publishing Ltd</publisher><subject>Architecture ; Command and control ; Computer programs ; Design engineering ; Human ; Operators ; Perception ; Robotics ; Robots</subject><ispartof>Journal of field robotics, 2015-03, Vol.32 (2), p.229-254</ispartof><rights>2014 Wiley Periodicals, Inc.</rights><rights>Copyright © 2015 Wiley Periodicals, Inc.</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c4696-e005f096b10ca6f2f614d0acaf273bcd5b1d06c0e33953c42f46cd00e9d72ce3</citedby><cites>FETCH-LOGICAL-c4696-e005f096b10ca6f2f614d0acaf273bcd5b1d06c0e33953c42f46cd00e9d72ce3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://onlinelibrary.wiley.com/doi/pdf/10.1002%2Frob.21546$$EPDF$$P50$$Gwiley$$H</linktopdf><linktohtml>$$Uhttps://onlinelibrary.wiley.com/doi/full/10.1002%2Frob.21546$$EHTML$$P50$$Gwiley$$H</linktohtml><link.rule.ids>314,776,780,1411,27901,27902,45550,45551</link.rule.ids></links><search><creatorcontrib>Fallon, Maurice</creatorcontrib><creatorcontrib>Kuindersma, Scott</creatorcontrib><creatorcontrib>Karumanchi, Sisir</creatorcontrib><creatorcontrib>Antone, Matthew</creatorcontrib><creatorcontrib>Schneider, Toby</creatorcontrib><creatorcontrib>Dai, Hongkai</creatorcontrib><creatorcontrib>D'Arpino, Claudia Pérez</creatorcontrib><creatorcontrib>Deits, Robin</creatorcontrib><creatorcontrib>DiCicco, Matt</creatorcontrib><creatorcontrib>Fourie, Dehann</creatorcontrib><creatorcontrib>Koolen, Twan</creatorcontrib><creatorcontrib>Marion, Pat</creatorcontrib><creatorcontrib>Posa, Michael</creatorcontrib><creatorcontrib>Valenzuela, Andrés</creatorcontrib><creatorcontrib>Yu, Kuan-Ting</creatorcontrib><creatorcontrib>Shah, Julie</creatorcontrib><creatorcontrib>Iagnemma, Karl</creatorcontrib><creatorcontrib>Tedrake, Russ</creatorcontrib><creatorcontrib>Teller, Seth</creatorcontrib><title>An Architecture for Online Affordance-based Perception and Whole-body Planning</title><title>Journal of field robotics</title><addtitle>J. Field Robotics</addtitle><description>The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor suite transmitted over a constrained, field‐realistic communications link. We describe the design considerations, architecture, implementation, and performance of the software that Team MIT developed to command and control an Atlas humanoid robot. Our design emphasized human interaction with an efficient motion planner, where operators expressed desired robot actions in terms of affordances fit using perception and manipulated in a custom user interface. We highlight several important lessons we learned while developing our system on a highly compressed schedule.</description><subject>Architecture</subject><subject>Command and control</subject><subject>Computer programs</subject><subject>Design engineering</subject><subject>Human</subject><subject>Operators</subject><subject>Perception</subject><subject>Robotics</subject><subject>Robots</subject><issn>1556-4959</issn><issn>1556-4967</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><recordid>eNp10MtOGzEUBuARKhIpdNE3GKmbdjHheHwZvAyUmxQltELN0vLYx2ToYKf2RJC3xyWQBRIr2zrfbx39RfGVwJgA1McxtOOacCb2ihHhXFRMiubT7s7lQfE5pXsARk8kHxWziS8n0Sy7Ac2wjli6EMu57zuP5cTlh9XeYNXqhLa8wWhwNXTBl9rbcrEMfR4Fuylveu195--Oin2n-4RfXs_D4vbi_PbsqprOL6_PJtPKMCFFhQDcgRQtAaOFq50gzII22tUNbY3lLbEgDCClklPDaseEsQAobVMbpIfF9-23qxj-rTEN6qFLBvu8BYZ1UkQ0jSRSQJ3pt3f0Pqyjz8tlxZmkhEGT1Y-tMjGkFNGpVewedNwoAup_sSoXq16KzfZ4ax-7HjcfQ_V7fvqWqLaJLg34tEvo-FeJhjZcLWaXql5MZz9_nc7UH_oMgleIbg</recordid><startdate>201503</startdate><enddate>201503</enddate><creator>Fallon, Maurice</creator><creator>Kuindersma, Scott</creator><creator>Karumanchi, Sisir</creator><creator>Antone, Matthew</creator><creator>Schneider, Toby</creator><creator>Dai, Hongkai</creator><creator>D'Arpino, Claudia Pérez</creator><creator>Deits, Robin</creator><creator>DiCicco, Matt</creator><creator>Fourie, Dehann</creator><creator>Koolen, Twan</creator><creator>Marion, Pat</creator><creator>Posa, Michael</creator><creator>Valenzuela, Andrés</creator><creator>Yu, Kuan-Ting</creator><creator>Shah, Julie</creator><creator>Iagnemma, Karl</creator><creator>Tedrake, Russ</creator><creator>Teller, Seth</creator><general>Blackwell Publishing Ltd</general><general>Wiley Subscription Services, Inc</general><scope>BSCLL</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope></search><sort><creationdate>201503</creationdate><title>An Architecture for Online Affordance-based Perception and Whole-body Planning</title><author>Fallon, Maurice ; Kuindersma, Scott ; Karumanchi, Sisir ; Antone, Matthew ; Schneider, Toby ; Dai, Hongkai ; D'Arpino, Claudia Pérez ; Deits, Robin ; DiCicco, Matt ; Fourie, Dehann ; Koolen, Twan ; Marion, Pat ; Posa, Michael ; Valenzuela, Andrés ; Yu, Kuan-Ting ; Shah, Julie ; Iagnemma, Karl ; Tedrake, Russ ; Teller, Seth</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c4696-e005f096b10ca6f2f614d0acaf273bcd5b1d06c0e33953c42f46cd00e9d72ce3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2015</creationdate><topic>Architecture</topic><topic>Command and control</topic><topic>Computer programs</topic><topic>Design engineering</topic><topic>Human</topic><topic>Operators</topic><topic>Perception</topic><topic>Robotics</topic><topic>Robots</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Fallon, Maurice</creatorcontrib><creatorcontrib>Kuindersma, Scott</creatorcontrib><creatorcontrib>Karumanchi, Sisir</creatorcontrib><creatorcontrib>Antone, Matthew</creatorcontrib><creatorcontrib>Schneider, Toby</creatorcontrib><creatorcontrib>Dai, Hongkai</creatorcontrib><creatorcontrib>D'Arpino, Claudia Pérez</creatorcontrib><creatorcontrib>Deits, Robin</creatorcontrib><creatorcontrib>DiCicco, Matt</creatorcontrib><creatorcontrib>Fourie, Dehann</creatorcontrib><creatorcontrib>Koolen, Twan</creatorcontrib><creatorcontrib>Marion, Pat</creatorcontrib><creatorcontrib>Posa, Michael</creatorcontrib><creatorcontrib>Valenzuela, Andrés</creatorcontrib><creatorcontrib>Yu, Kuan-Ting</creatorcontrib><creatorcontrib>Shah, Julie</creatorcontrib><creatorcontrib>Iagnemma, Karl</creatorcontrib><creatorcontrib>Tedrake, Russ</creatorcontrib><creatorcontrib>Teller, Seth</creatorcontrib><collection>Istex</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>Journal of field robotics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Fallon, Maurice</au><au>Kuindersma, Scott</au><au>Karumanchi, Sisir</au><au>Antone, Matthew</au><au>Schneider, Toby</au><au>Dai, Hongkai</au><au>D'Arpino, Claudia Pérez</au><au>Deits, Robin</au><au>DiCicco, Matt</au><au>Fourie, Dehann</au><au>Koolen, Twan</au><au>Marion, Pat</au><au>Posa, Michael</au><au>Valenzuela, Andrés</au><au>Yu, Kuan-Ting</au><au>Shah, Julie</au><au>Iagnemma, Karl</au><au>Tedrake, Russ</au><au>Teller, Seth</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>An Architecture for Online Affordance-based Perception and Whole-body Planning</atitle><jtitle>Journal of field robotics</jtitle><addtitle>J. Field Robotics</addtitle><date>2015-03</date><risdate>2015</risdate><volume>32</volume><issue>2</issue><spage>229</spage><epage>254</epage><pages>229-254</pages><issn>1556-4959</issn><eissn>1556-4967</eissn><abstract>The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor suite transmitted over a constrained, field‐realistic communications link. We describe the design considerations, architecture, implementation, and performance of the software that Team MIT developed to command and control an Atlas humanoid robot. Our design emphasized human interaction with an efficient motion planner, where operators expressed desired robot actions in terms of affordances fit using perception and manipulated in a custom user interface. We highlight several important lessons we learned while developing our system on a highly compressed schedule.</abstract><cop>Hoboken</cop><pub>Blackwell Publishing Ltd</pub><doi>10.1002/rob.21546</doi><tpages>26</tpages><oa>free_for_read</oa></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 1556-4959 |
| ispartof | Journal of field robotics, 2015-03, Vol.32 (2), p.229-254 |
| issn | 1556-4959 1556-4967 |
| language | eng |
| recordid | cdi_proquest_miscellaneous_1677919602 |
| source | Wiley Online Library Journals Frontfile Complete |
| subjects | Architecture Command and control Computer programs Design engineering Human Operators Perception Robotics Robots |
| title | An Architecture for Online Affordance-based Perception and Whole-body Planning |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-02-08T05%3A38%3A47IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_cross&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=An%20Architecture%20for%20Online%20Affordance-based%20Perception%20and%20Whole-body%20Planning&rft.jtitle=Journal%20of%20field%20robotics&rft.au=Fallon,%20Maurice&rft.date=2015-03&rft.volume=32&rft.issue=2&rft.spage=229&rft.epage=254&rft.pages=229-254&rft.issn=1556-4959&rft.eissn=1556-4967&rft_id=info:doi/10.1002/rob.21546&rft_dat=%3Cproquest_cross%3E3589283741%3C/proquest_cross%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=1654931407&rft_id=info:pmid/&rfr_iscdi=true |