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.

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Document Details

Document Type
Technical Report
Publication Date
Mar 16, 2014
Accession Number
ADA602904

Entities

People

  • Claudia P. D'arpino
  • Dehann Fourie
  • Hongkai Dai
  • Matt Dicicco
  • Matthew Antone
  • Maurice Fallon
  • Robin Deits
  • Scott Kuindersma
  • Sisir Karumanchi
  • Toby Schneider

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Accuracy
  • Algorithms
  • Artificial Intelligence
  • Autonomous Systems
  • Coding
  • Computer Science
  • Control Systems
  • Data Compression
  • Measurement
  • Military Research
  • Motion Planning
  • Perception
  • Robotics
  • Robots
  • Situational Awareness
  • Throughput
  • User Interface

Fields of Study

  • Computer science

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Fully Networked C3
  • Fully Networked C3 - Command and Control