Using Virtual Articulations to Operate High-DoF Manipulation and Inspection Motions
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Rus_Using Virtual.pdf
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Author(s)
Vona, Marsette A.
Mittman, David
Norris, Jeffrey S.
Rus, Daniela L.
Date Issued
July 2009
Journal
International Conference on Field and Service Robotics, 7th, 2009
Publisher
International Conference on Field and Service Robotics
Citation
Vona, Marsette et al. "Using Virtual Articulations to Operate
High-DoF Inspection and Manipulation Motions" International Conference on Field and Service Robotics, 7th, 2009.
Version
Author's final manuscript
Abstract
We have developed a new operator interface system for high-DoF articulated
robots based on the idea of allowing the operator to extend the robot’s actual
kinematics with virtual articulations. These virtual links and joints can model both
primary task DoF and constraints on whole-robot coordinated motion. Unlike other
methods, our approach can be applied to robots and tasks of arbitrary kinematic
topology, and allows specifying motion with a scalable level of detail. We present
hardware results where NASA/JPL’s All-Terrain Hex-Legged Extra-Terrestrial Explorer
(ATHLETE) executes previously challenging inspection and manipulation
motions involving coordinated motion of all 36 of the robot’s joints.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
http://www.rec.ri.cmu.edu/fsr09/papers/FSR2009_0033_a634a196d0287b318c16c563dee021fe.pdf
