An Architecture for Online Affordance-based Perception and Whole-body Planning
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MIT-CSAIL-TR-2014-003.pdf
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Author(s)
Fallon, Maurice
Kuindersma, Scott
Karumanchi, Sisir
Antone, Matthew
Schneider, Toby
Dai, Hongkai
Perez D'Arpino, Claudia
Deits, Robin
DiCicco, Matt
Fourie, Dehann
Advisor(s)
Seth Teller
Date Issued
March 16, 2014
Series/Report no.
MIT-CSAIL-TR-2014-003
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.
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