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An Architecture for Online Affordance-based Perception and Whole-body Planning

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; Deits, Robin Lloyd Henderson; Koolen, Frans Anton; Marion, James Patrick; Posa, Michael Antonio; Valenzuela, Andres Klee; Shah, Julie A; Tedrake, Russell L; Fallon, Maurice; Schneider, Toby Edwin; ... Show more Show less
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Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/
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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.
Date issued
2014-10
URI
http://hdl.handle.net/1721.1/97045
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
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
ISSN
15564959
1556-4967

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