Collaborative Autonomy Between High-Level Behaviors and Human Operators for Control of Complex Tasks with Different Humanoid Robots

Abstract

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A model to discipline autonomy in cyber‐physical systems‐of‐systems and its application

“…Collaborative autonomy between high-level behaviors and human operators have been proposed in 36 . In this work, a framework called FlexBE is used to provide autonomy of robots collaborating with human operators.…”

“…Collaborative autonomy between high‐level behaviors and human operators have been proposed in Conner et al 48 In this work, a framework called FlexBE is used to provide an autonomy of robots collaborating with human operators. More specifically, autonomy is realized as a high‐level control approach, where a human operator is responsible to adjust the autonomy level of the robots.…”

A Universal Footstep Planning Methodology for Continuous Walking in Challenging Terrain Applicable to Different Types of Legged Robots

“…There have been few attempts to provide a hardware abstraction layer for motion planners such as Free Gait [34]. Footstep plans are typically passed directly to the motion controller using specialized bridging software that is not designed for reuse for other robot systems [35] [36]. However, due to locomotion drift and incomplete knowledge of the terrain, step plans over long distances are not feasible.…”