The Affordance Template ROS package for robot task programming

Hart, Stephen; Dinh, Paul C.; Hambuchen, Kimberly

doi:10.1109/icra.2015.7140073

Cited by 69 publications

(36 citation statements)

References 14 publications

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“…Virtual objects, such as those described in [14] can be used to define a set of goal and/or path constraints as well as any allowable collisions (shown in Figure 4b, c). This virtual object has a series of goal constraints, i.e., waypoints, marked by floating end-effectors.…”

Section: Virtual Objectsmentioning

confidence: 99%

“…After unclasping, R2 must plan to grab the forward facing strap on the CTB, shown in Figure 4(b1) and (b2). The plans are done by using an extension to [14], which defines goal poses relative to a frame in the world. In this case, the desired series of motions is specified in reference to the virtual CTB object shown in Figure 4(b2).…”

Section: A Cargo Transfer Bag (Ctb) Manipulationmentioning

confidence: 99%

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Robonaut 2 and you: Specifying and executing complex operations

Baker

Kingston

Moll

et al. 2017

2017 IEEE Workshop on Advanced Robotics and Its Social Impacts (ARSO)

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Abstract-Crew time is a precious resource due to the expense of trained human operators in space. Efficient caretaker robots could lessen the manual labor load required by frequent vehicular and life support maintenance tasks, freeing astronaut time for scientific mission objectives. Humanoid robots can fluidly exist alongside human counterparts due to their form, but they are complex and high-dimensional platforms.This paper describes a system that human operators can use to maneuver Robonaut 2 (R2), a dexterous humanoid robot developed by NASA to research co-robotic applications. The system includes a specification of constraints used to describe operations, and the supporting planning framework that solves constrained problems on R2 at interactive speeds. The paper is developed in reference to an illustrative, typical example of an operation R2 performs to highlight the challenges inherent to the problems R2 must face. Finally, the interface and planner is validated through a case-study using the guiding example on the physical robot in a simulated microgravity environment. This work reveals the complexity of employing humanoid caretaker robots and suggest solutions that are broadly applicable.

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Section: Virtual Objectsmentioning

confidence: 99%

Section: A Cargo Transfer Bag (Ctb) Manipulationmentioning

confidence: 99%

Robonaut 2 and you: Specifying and executing complex operations

Baker

Kingston

Moll

et al. 2017

2017 IEEE Workshop on Advanced Robotics and Its Social Impacts (ARSO)

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“…The Affordance Template (AT) framework provides a remote robot operator with a user interface for shared control [9]. The framework consists of templates that describe affordances of objects to a robot and exists within a visual environment, RViz 2 , for operator interaction.…”

Section: A Affordance Templatesmentioning

confidence: 99%

Supervisory control of a humanoid robot in microgravity for manipulation tasks

Farrell

Strawser

Hambuchen

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-Teleoperation is the dominant form of dexterous robotic tasks in the field. However, there are many use cases in which direct teleoperation is not feasible such as disaster areas with poor communication as posed in the DARPA Robotics Challenge, or robot operations on spacecraft a large distance from Earth with long communication delays. Presented is a solution that combines the Affordance Template Framework for object interaction with TaskForce for supervisory control in order to accomplish high level task objectives with basic autonomous behavior from the robot. TaskForce, is a new commanding infrastructure that allows for optimal development of task execution, clear feedback to the user to aid in off-nominal situations, and the capability to add autonomous verification and corrective actions. This framework has allowed the robot to take corrective actions before requesting assistance from the user. This framework is demonstrated with Robonaut 2 removing a Cargo Transfer Bag from a simulated logistics resupply vehicle for spaceflight using a single operator command. This was executed with 80% success with no human involvement, and 95% success with limited human interaction. This technology sets the stage to do any number of high level tasks using a similar framework, allowing the robot to accomplish tasks with minimal to no human interaction.

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“…Stephen Hart et al have described a ROS package for quickly programming, adjusting and executing robot applications in RViz environment. This developed package extends the capabilities of RViz interactive markers by allowing an operator to specify grasp poses in object-centric coordinate frames and multiple end-effector waypoint locations and to adjust these waypoints in order to meet the run-time demand of the task [10]. Mathew et al have explained their software architecture and hardware choices, which ensure human loop control of a 28 degree-of-freedom ATLAS humanoid robot over a limited bandwidth link [11].…”

Section: Introductionmentioning

confidence: 99%

“…Figure 2 represents the complete methodology for whole research work. Manual robots teaching using tech pendant is performance wise disadvantageous over automatic robot teaching [3], [10]. To overcome this issue visual feedback with programming autoa main controller [19] [25].…”

Section: Introductionmentioning

confidence: 99%