Humanoid integrated UI system for supervised autonomy with massive data visualization over narrow and unreliable network communication for DRC competition

In this work we present the concept of a pilot interface to control a humanoid robot on an abstract level in unknown environments . The environment is perceived with a stereo camera system and then simplified into a set of environmental primitives. Based on these primitives the interface proposes affordances to the pilot. Affordances are represented as certainty functions over the space of end-effector poses. The pilot operates the robot by selecting among proposed affordances and related action primitives, i.e. Object-Action Complexes (OACs). Before initiating execution, the pilot can review and revise the parameterization of the scheduled action primitive in a 3D reconstruction of the environment. The pilot interface proposed in this work has been implemented and evaluated on the humanoid robot WALK-MAN. With this work we also demonstrate the transferability of the perceptual concept, as our previous experiments have been performed using the humanoid robot ARMAR-III.

show abstract

scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.

Contact Info

hi@scite.ai

10624 S. Eastern Ave., Ste. A-614

Henderson, NV 89052, USA

Blog Terms and Conditions API Terms Privacy Policy Contact Cookie Preferences Do Not Sell or Share My Personal Information

Made with 💙 for researchers

Part of the Research Solutions Family.

Humanoid integrated UI system for supervised autonomy with massive data visualization over narrow and unreliable network communication for DRC competition

Cited by 6 publications

References 18 publications

Development of humanoid robot system for disaster response through team NEDO-JSK's approach to DARPA Robotics Challenge Finals

Development of humanoid robot system for disaster response through team NEDO-JSK's approach to DARPA Robotics Challenge Finals

Multi-layered real-time controllers for humanoid's manipulation and locomotion tasks with emergency stop

An affordance-based pilot interface for high-level control of humanoid robots in supervised autonomy

Contact Info

Product

Resources

About