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Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body ManipulationThe use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called "supervised-autonomy" is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of "behaviors" to chain together sequences of "actions" for the robot to perform which is then executed real time.
Document ID
20170007012
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
Authors
Hebert, Paul
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Ma, Jeremy
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Borders, James
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Aydemir, Alper
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Bajracharya, Max
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Hudson, Nicolas
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Shankar, Krishna
(California Inst. of Tech. Pasadena, CA, United States)
Karumanchi, Sisir
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Douillard, Bertrand
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Burdick, Joel
(California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 1, 2017
Publication Date
May 26, 2015
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Meeting Information
Meeting: IEEE ICRA 2015 Conference
Location: Seattle, WA
Country: United States
Start Date: May 26, 2015
End Date: May 30, 2015
Sponsors: Institute of Electrical and Electronics Engineers
Distribution Limits
Public
Copyright
Other

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