A Theatrical Mobile-Dexterous Robot Directed through Shared Autonomy

Author(s)
Agoos, Peter; Zamore, Andrew; Perez D'Arpino, Claudia; Gammons, David R; Kyritsis, Evie S.; ... Show more
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Abstract
We present the deployment of a 16-DoF dual-arm mobile manipulator as an on-stage actor in the MIT2016 Pageant, a 60 minute live play performed for the centennial celebration of the Massachusetts Institute of Technology campus move from Boston to Cambridge. The robot performed using expressive motions, navigated a 250ft-long thrust stage through a wireless connection, and was directed remotely by a human operator using a shared autonomy system. We report on the technical framework and human-robot interaction that enabled the performance, including motion planning, coordination of action with human actors, and the challenges in navigation, manipulation, perception and system reliability.
Date issued
2017-03
URI
http://hdl.handle.net/1721.1/116046
Department
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 Humanities. Music and Theater Arts Section
Journal
Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction - HRI '17
Publisher
Association for Computing Machinery (ACM)
Citation
Pérez-D’Arpino, Claudia, Peter Agoos, Andrew Zamore, David R. Gammons, Evie Kyritsis, and Julie A. Shah. “A Theatrical Mobile-Dexterous Robot Directed through Shared Autonomy.” Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction - HRI ’17 (2017).
Version: Author's final manuscript
ISBN
9781450348850
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