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dc.contributor.advisorSeth Teller
dc.contributor.authorFallon, Mauriceen_US
dc.contributor.authorKuindersma, Scotten_US
dc.contributor.authorKarumanchi, Sisiren_US
dc.contributor.authorAntone, Matthewen_US
dc.contributor.authorSchneider, Tobyen_US
dc.contributor.authorDai, Hongkaien_US
dc.contributor.authorPerez D'Arpino, Claudiaen_US
dc.contributor.authorDeits, Robinen_US
dc.contributor.authorDiCicco, Matten_US
dc.contributor.authorFourie, Dehannen_US
dc.contributor.authorKoolen, Twanen_US
dc.contributor.authorMarion, Paten_US
dc.contributor.authorPosa, Michaelen_US
dc.contributor.authorValenzuela, Andresen_US
dc.contributor.authorYu, Kuan-Tingen_US
dc.contributor.authorShah, Julieen_US
dc.contributor.authorIagnemma, Karlen_US
dc.contributor.authorTedrake, Russen_US
dc.contributor.authorTeller, Sethen_US
dc.contributor.otherRobotics, Vision & Sensor Networksen
dc.date.accessioned2014-03-17T21:30:06Z
dc.date.available2014-03-17T21:30:06Z
dc.date.issued2014-03-16
dc.identifier.urihttp://hdl.handle.net/1721.1/85690
dc.description.abstractThe 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.en_US
dc.format.extent29 p.en_US
dc.relation.ispartofseriesMIT-CSAIL-TR-2014-003
dc.rightsCreative Commons Attribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/en_US
dc.titleAn Architecture for Online Affordance-based Perception and Whole-body Planningen_US
dc.date.updated2014-03-17T21:30:06Z


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