2014
DOI: 10.1002/rob.21546
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An Architecture for Online Affordance‐based Perception and Whole‐body Planning

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, fieldrealistic 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 … Show more

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Cited by 114 publications
(33 citation statements)
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“…In each case our team's footstep planner (described in [8] and further developed in [17]) creates a kinematicallyfeasible footstep sequence that reaches a goal position and orientation while minimizing the number of steps taken. The experiments involving uneven terrain traversal require human input to ensure correct initial footstep placement.…”
Section: Methodsmentioning
confidence: 99%
See 3 more Smart Citations
“…In each case our team's footstep planner (described in [8] and further developed in [17]) creates a kinematicallyfeasible footstep sequence that reaches a goal position and orientation while minimizing the number of steps taken. The experiments involving uneven terrain traversal require human input to ensure correct initial footstep placement.…”
Section: Methodsmentioning
confidence: 99%
“…The ultimate goal of our research efforts [8] is to develop a system that enables a humanoid robot to operate at a semiautonomous level with human interaction at a task level, as depicted in Figure 2: "walk over to the drill and use it to cut a circular hole in the wall".…”
Section: Requirementsmentioning
confidence: 99%
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“…Top right shows the SPHERES/VERTIGO experiment aboard the International Space Station during early testing in 2013 of the visual relative object tracking and inertial navigation experiments along with directional, synchronized time-of-flight acoustic beacons for absolute ranging and reference [66,67]. Bottom left shows the Team MIT's BDi Atlas humanoid robot (later 2013) for the DARPA robotics challenge, using a kinematic and lidar aided inertial navigation system, with the intention of remote user manipulation of objects [54,223]. Bottom right shows the Woods Hole Oceanographic Sentry autonomous under water vehicle before deployment at Juan de Fuca ridge in 2014, using multiple inertial sensors and Doppler velocity log for navigation; as well as independent acoustic and optical localization of equipment deployed on the sea floor [85,189].…”
Section: Introductionmentioning
confidence: 99%