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.; Shah, Julie A; ... Show more Show less
MetadataShow full item record
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.
DepartmentMassachusetts 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
Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction - HRI '17
Association for Computing Machinery (ACM)
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).
Author's final manuscript