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

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dc.contributor.advisor Seth Teller Fallon, Maurice en_US Kuindersma, Scott en_US Karumanchi, Sisir en_US Antone, Matthew en_US Schneider, Toby en_US Dai, Hongkai en_US Perez D'Arpino, Claudia en_US Deits, Robin en_US DiCicco, Matt en_US Fourie, Dehann en_US Koolen, Twan en_US Marion, Pat en_US Posa, Michael en_US Valenzuela, Andres en_US Yu, Kuan-Ting en_US Shah, Julie en_US Iagnemma, Karl en_US Tedrake, Russ en_US Teller, Seth en_US
dc.contributor.other Robotics, Vision & Sensor Networks en 2014-03-17T21:30:06Z 2014-03-17T21:30:06Z 2014-03-16
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 en_US
dc.title An Architecture for Online Affordance-based Perception and Whole-body Planning en_US 2014-03-17T21:30:06Z

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Creative Commons Attribution 4.0 International Except where otherwise noted, this item's license is described as Creative Commons Attribution 4.0 International