Towards autonomous robotic butlers: Lessons learned with the PR2

Bohren, J. Aislinn; Rusu, Radu Bogdan; Jones, E. Gil; Marder-Eppstein, Eitan; Pantofaru, Caroline; Wise, Melonee; Mösenlechner, Lorenz; Meeussen, Wim; Hölzer, Stefan M.

doi:10.1109/icra.2011.5980058

Cited by 190 publications

(120 citation statements)

References 7 publications

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“…In the current state-of-the-art high level tasks like these are accomplished through executives which execute high level robot actions to accomplish these tasks. Such a task level executive architecture has been demonstrated by Bohren et al in the SMACH system [2]. Such systems are useful as they are specified via high level tasks which are analagous to human instruction.…”

Section: Introductionmentioning

confidence: 94%

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Failure recovery with shared autonomy

Sankaran

Pitzer

Osentoski

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Building robots capable of long term autonomy has been a long standing goal of robotics research. Such systems must be capable of performing certain tasks with a high degree of robustness and repeatability. In the context of personal robotics, these tasks could range anywhere from retrieving items from a refrigerator, loading a dishwasher, to setting up a dinner table. Given the complexity of tasks there are a multitude of failure scenarios that the robot can encounter, irrespective of whether the environment is static or dynamic. For a robot to be successful in such situations, it would need to know how to recover from failures or when to ask a human for help.This paper, presents a novel shared autonomy behavioral executive to addresses these issues. We demonstrate how this executive combines generalized logic based recovery and human intervention to achieve continuous failure free operation. We tested the systems over 250 trials of two different use case experiments. Our current algorithm drastically reduced human intervention from 26% to 4% on the first experiment and 46% to 9% on the second experiment. This system provides a new dimension to robot autonomy, where robots can exhibit long term failure free operation with minimal human supervision. We also discuss how the system can be generalized.

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Section: Introductionmentioning

confidence: 94%

“…To demonstrate the efficiency of our approach, we have built our system on top of the existing SMACH [2] architecture present in ROS [15]. SMACH is a task executive where tasks can be specified in the form of a state machine.…”

Section: Methodsmentioning

confidence: 99%

Failure recovery with shared autonomy

Sankaran

Pitzer

Osentoski

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Willow Garage has successfully completed a number of tasks, including door opening, inserting a plug into a socket (Bohren 2011), towel folding (Maitin-Shepard et al 2010, and even cooking pancakes (Beetz et al 2011). The first three required algorithms specific to detection of objects.…”

Section: Related Workmentioning

confidence: 99%

“…In this task, and others that used the Willow Garage PR2, feedback from tactile sensors were used to react to perceived poor grasps (Chitta et al 2012), resetting the grasp planning if the grasp was poorer than expected. The division of more sophisticated tasks for the PR2 are handled through a hierarchical state machine SMACH (Bohren 2011) that are constructed a-priori.…”

Section: Related Workmentioning

confidence: 99%

Model-based autonomous system for performing dexterous, human-level manipulation tasks

Hudson

Jain

et al. 2013

Auton Robot

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This article presents a model based approach to autonomous dexterous manipulation, developed as part of the DARPA Autonomous Robotic Manipulation Software (ARM-S) program. Performing human-level manipulation tasks is achieved through a novel combination of perception in uncertain environments, precise tool use, forceful dualarm planning and control, persistent environmental tracking, and task level verification. Deliberate interaction with the environment is incorporated into planning and control strategies, which, when coupled with world estimation, allows for refinement of models and precise manipulation. The system takes advantage of sensory feedback immediately with little open-loop execution, attempting true autonomous reasoning and multi-step sequencing that adapts in the face of changing and uncertain environments. A tire change scenario utilizing human tools, discussed throughout the article, is used to described the system approach. A second scenario of cutting a wire is also presented, and is used to illustrate system component reuse and generality.

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“…With the open source 2 project Rapyuta 3 , we attempt to solve some of the remaining challenges of building a complete cloud robotics platform. Rapyuta is based on an elastic computing model [4] that dynamically allocates secure computing environments (or clones) for robots.…”

Section: Figmentioning

confidence: 99%

Rapyuta: The RoboEarth Cloud Engine

Hunziker

Mohanarajah

Waibel

et al. 2013

2013 IEEE International Conference on Robotics and Automation

141

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Abstract-In this paper we present the design and implementation of Rapyuta 1 , the RoboEarth Cloud Engine. Rapyuta is an open source Platform-as-a-Service (PaaS) framework designed specifically for robotics applications. Rapyuta helps robots to offload heavy computation by providing secured customizable computing environments in the cloud. The computing environments also allow robots to easily access the RoboEarth knowledge repository. Furthermore, these computing environments are tightly interconnected, paving the way for deployment of robotic teams. We also describe specific use case configurations and present some performance results.

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Towards autonomous robotic butlers: Lessons learned with the PR2

Cited by 190 publications

References 7 publications

Failure recovery with shared autonomy

Failure recovery with shared autonomy

Model-based autonomous system for performing dexterous, human-level manipulation tasks

Rapyuta: The RoboEarth Cloud Engine

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