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A Theatrical Mobile-Dexterous Robot Directed through Shared Autonomy

dc.contributor.authorAgoos, Peter
dc.contributor.authorZamore, Andrew
dc.contributor.authorPerez D'Arpino, Claudia
dc.contributor.authorGammons, David R
dc.contributor.authorKyritsis, Evie S.
dc.contributor.authorShah, Julie A
dc.date.accessioned2018-06-04T13:53:32Z
dc.date.available2018-06-04T13:53:32Z
dc.date.issued2017-03
dc.identifier.isbn9781450348850
dc.identifier.urihttp://hdl.handle.net/1721.1/116046
dc.description.abstractWe present the deployment of a 16-DoF dual-arm mobile manipulator as an on-stage actor in the MIT2016 Pageant, a 60 minute live play performed for the centennial celebration of the Massachusetts Institute of Technology campus move from Boston to Cambridge. The robot performed using expressive motions, navigated a 250ft-long thrust stage through a wireless connection, and was directed remotely by a human operator using a shared autonomy system. We report on the technical framework and human-robot interaction that enabled the performance, including motion planning, coordination of action with human actors, and the challenges in navigation, manipulation, perception and system reliability.en_US
dc.publisherAssociation for Computing Machinery (ACM)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1145/3029798.3036644en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceMIT Web Domainen_US
dc.titleA Theatrical Mobile-Dexterous Robot Directed through Shared Autonomyen_US
dc.typeArticleen_US
dc.identifier.citationPérez-D’Arpino, Claudia, Peter Agoos, Andrew Zamore, David R. Gammons, Evie Kyritsis, and Julie A. Shah. “A Theatrical Mobile-Dexterous Robot Directed through Shared Autonomy.” Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction - HRI ’17 (2017).en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Aeronautics and Astronauticsen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Humanities. Music and Theater Arts Sectionen_US
dc.contributor.mitauthorPerez D'Arpino, Claudia
dc.contributor.mitauthorGammons, David R
dc.contributor.mitauthorKyritsis, Evie S.
dc.contributor.mitauthorShah, Julie A
dc.relation.journalProceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction - HRI '17en_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dc.date.updated2018-04-10T17:11:47Z
dspace.orderedauthorsPérez-D'Arpino, Claudia; Agoos, Peter; Zamore, Andrew; Gammons, David R.; Kyritsis, Evie; Shah, Julie A.en_US
dspace.embargo.termsNen_US
dc.identifier.orcidhttps://orcid.org/0000-0002-1999-7395
dc.identifier.orcidhttps://orcid.org/0000-0002-0633-3899
dc.identifier.orcidhttps://orcid.org/0000-0003-1338-8107
mit.licenseOPEN_ACCESS_POLICYen_US


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