Robonaut 2 and you: Specifying and executing complex operations

Baker, William A.; Kingston, Zachary; Moll, Mark; Badger, Julia; Kavraki, Lydia E.

doi:10.1109/arso.2017.8025204

Cited by 15 publications

(5 citation statements)

References 19 publications

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“…Do prostego współdziałania z ludźmi pracującymi przy linii produkcyjnej wystarcza, że robot nie narusza stref, gdzie może znajdować się człowiek lub ruchome części urządzeń -jest to zachowanie pasywne. Najbardziej zaawansowanym kobotem jest Robonaut 2 (R2) [10] stworzony we współpracy między NASA i General Motors (GM). Początkowo był to dwuramienny tors z ruchomą głową, który współpracował z astronautami na Międzynarodowej Stacji Kosmicznej w latach 2011-2018.…”

Section: Roboty Przemysłoweunclassified

Robotics: Techniques, Functions, Social Role Part 2. Current Capabilities of Robots

Zieliński¹

2023

PAR

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In order to assess the impact of robots on society, it is necessary to carefully analyze the state-of-the-art, and in particular the fundamental issues that have yet to be resolved, however having significant impact on the potential societal changes resulting from the development of robotics. The aforementioned impact depends on the level of intelligence of robots, so this aspect dominates in the presented analysis. The presentation has been divided into three parts: 1) analysis of technical factors affecting the intelligence and security of robots, 2) analysis of current capabilities of robots, 3) analysis of diverse predictions of how robotics will evolve, and thus the attitudes towards the influence of the result of this development on society. This part of the paper is devoted to the second of the above mentioned three issues.

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Section: Roboty Przemysłoweunclassified

Robotics: Techniques, Functions, Social Role Part 2. Current Capabilities of Robots

Zieliński¹

2023

PAR

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“…In this kind of system, the device and human operators connect the real world to the virtual one, so they can have an effect on each other. Baker et al (2017) introduced Robonaut 2, which performs various tasks on behalf of people in outer space. Since it is necessary to perform dangerous work, in order to make a rational judgment, the VR environment provides many operators the ability to confirm the progress of work from various viewpoints (see Fig.…”

Section: Virtual Collaboration For Communication Time Delaymentioning

confidence: 99%

Robotic remote control based on human motion via virtual collaboration system: A survey

Jung

Song

2018

JAMDSM

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This paper offers a review of the latest robotic remote control schemes that are based on human motion through the virtual collaboration system. The robotic remote control schemes have been studied and developed to combine the intelligence of humans with the precision and mechanical strength of robots. They have performed an important role in some dangerous environments by replacing humans in many difficult jobs, but the lack of intuitive control interfaces causes decreased efficiency. To address this problem, various approaches have been recently investigated, including human motion-based control, visual feedback systems, tactile or force feedback, and other various haptic systems. This paper describes the tendencies of these efforts and discusses possibilities and limitations in three parts: remote control based on human motion, multimodal feedback schemes for realistic interaction, and virtual collaboration systems.

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“…Robowflex is primarily built around MoveIt [4], a generic software library designed to provide motion planning and mobile manipulation capabilities to ROS [5] enabled robots. MoveIt has been successfully used with many robots, such as the PR2 [20], Fetch [21], and even NASA's Robonaut 2 [22]. MoveIt also provides a setup assistant to easily configure new, novel robots for motion planning [6].…”

Section: Introductionmentioning

confidence: 99%

Robowflex: Robot Motion Planning with MoveIt Made Easy

Kingston¹,

Kavraki²

2021

Preprint

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Robowflex is a software library for robot motion planning in industrial and research applications, leveraging the popular MoveIt library and Robot Operating System (ROS) middleware. Robowflex takes advantage of the ease of motion planning with MoveIt while providing an augmented API to craft and manipulate motion planning queries within a single program. Robowflex's high-level API simplifies many common use-cases while still providing access to the underlying MoveIt library. Robowflex is particularly useful for 1) developing new motion planners, 2) evaluation of motion planners, and 3) complex problems that use motion planning (e.g., task and motion planning). Robowflex also provides visualization capabilities, integrations to other robotics libraries (e.g., DART and Tesseract), and is complimentary to many other robotics packages. With our library, the user does not need to be an expert at ROS or MoveIt in order to set up motion planning queries, extract information from results, and directly interface with a variety of software components. We provide a few example use-cases that demonstrate its efficacy. I. INTRODUCTIONRobotic manipulators are becoming ever more prevalent-in the near future, we will begin to see robots in the household, search-and-rescue scenarios, and other forms of service. These manipulators are tasked with increasingly complex goals and environments, blending discrete task planning and continuous motion planning to find a sequence of achievable actions. A core component of any autonomous system that operates within the "real world" is motion planning [1]-[3], which can find feasible motion that satisfies task requirements (e.g., reaching the goal, satisfying some motion constraint, etc.). However, it is difficult in general to tailor a specific motion planning algorithm to a particular use-case, evaluate its capabilities, or modify and integrate it within a broader system.There have been many efforts to develop motion planning software systems that are applicable to general manipulators. A popular and robust library for motion planning is MoveIt [4], which is built on top of the ubiquitous Robot Operating System (ROS) framework [5]. MoveIt has four key advantages: it is widely adopted throughout industry and research, it is easy to setup for new robots and over 150 different robot configurations are already available [6], it is easy to integrate with a broader ROS enabled system, and it has a large and vibrant open source community. However, due to MoveIt's massive scope and abstract architecture, many tasks are difficult for both engineers and researchers. For example, it can be difficult to evaluate and develop planning algorithms, extend a planner's functionality, extract low-level information from planners, or use a planner

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Robonaut 2 and you: Specifying and executing complex operations

Cited by 15 publications

References 19 publications

Robotics: Techniques, Functions, Social Role Part 2. Current Capabilities of Robots

Robotics: Techniques, Functions, Social Role Part 2. Current Capabilities of Robots

Robotic remote control based on human motion via virtual collaboration system: A survey

Robowflex: Robot Motion Planning with MoveIt Made Easy

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