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, 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.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Oct 25, 2014
- Source ID
- 10.1002/rob.21546
Entities
People
- Andres Valenzuela
- Claudia Pérez D'arpino
- Dehann Fourie
- Hongkai Dai
- Julie Shah
- Karl Iagnemma
- Kuan‐ting Yu
- Matt Dicicco
- Matthew Antone
- Maurice Fallon
- Michael Posa
- Pat Marion
- Robin Deits
- Russ Tedrake
- Scott Kuindersma
- Seth Teller
- Sisir Karumanchi
- Toby Schneider
- Twan Koolen
Organizations
- Defense Advanced Research Projects Agency
- Massachusetts Institute of Technology
- Office of Naval Research