An Architecture for Online Affordance-based Perception and Whole-body Planning
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Shah_An architecture for.pdf
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15.64 MB
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Author(s)
Kuindersma, Scott
Karumanchi, Sisir B.
Antone, Matthew
Dai, Hongkai
DiCicco, Matt
Fourie, Dehann
Yu, Kuan-Ting
Iagnemma, Karl
Teller, Seth
Perez D'Arpino, Claudia
Date Issued
October 2014
Journal
Journal of Field Robotics
Publisher
Wiley Blackwell
Citation
Fallon, Maurice, Scott Kuindersma, Sisir Karumanchi, Matthew Antone, Toby Schneider, Hongkai Dai, Claudia Perez D’Arpino, et al. “An Architecture for Online Affordance-Based Perception and Whole-Body Planning.” Journal of Field Robotics 32, no. 2 (October 25, 2014): 229–254.
Version
Original manuscript
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.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1002/rob.21546
