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An Architecture for Online Affordance-based Perception and Whole-body Planning

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dc.contributor.advisor Seth Teller
dc.contributor.author Fallon, Maurice en_US
dc.contributor.author Kuindersma, Scott en_US
dc.contributor.author Karumanchi, Sisir en_US
dc.contributor.author Antone, Matthew en_US
dc.contributor.author Schneider, Toby en_US
dc.contributor.author Dai, Hongkai en_US
dc.contributor.author Perez D'Arpino, Claudia en_US
dc.contributor.author Deits, Robin en_US
dc.contributor.author DiCicco, Matt en_US
dc.contributor.author Fourie, Dehann en_US
dc.contributor.author Koolen, Twan en_US
dc.contributor.author Marion, Pat en_US
dc.contributor.author Posa, Michael en_US
dc.contributor.author Valenzuela, Andres en_US
dc.contributor.author Yu, Kuan-Ting en_US
dc.contributor.author Shah, Julie en_US
dc.contributor.author Iagnemma, Karl en_US
dc.contributor.author Tedrake, Russ en_US
dc.contributor.author Teller, Seth en_US
dc.contributor.other Robotics, Vision & Sensor Networks en
dc.date.accessioned 2014-03-17T21:30:06Z
dc.date.available 2014-03-17T21:30:06Z
dc.date.issued 2014-03-16
dc.identifier.uri http://hdl.handle.net/1721.1/85690
dc.description.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. en_US
dc.format.extent 29 p. en_US
dc.relation.ispartofseries MIT-CSAIL-TR-2014-003
dc.rights Creative Commons Attribution 4.0 International *
dc.rights.uri http://creativecommons.org/licenses/by/4.0/ en_US
dc.title An Architecture for Online Affordance-based Perception and Whole-body Planning en_US
dc.date.updated 2014-03-17T21:30:06Z


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