A mobile version of the NASA/DARPA Robonaut humanoid recently completed initial autonomy trials working directly with humans in cluttered environments. This compact robot combines the upper body of the Robonaut system with a Segway Robotic Mobility Platform yielding a dexterous, maneuverable humanoid ideal for interacting with human co-workers in a range of environments. This system uses stereovision to locate human teammates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form complex behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Robonaut Mobile Autonomy: Initial Experiments


    Beteiligte:
    M. A. Diftler (Autor:in) / R. O. Ambrose (Autor:in) / S. M. Goza (Autor:in) / K. S. Tyree (Autor:in) / E. L. Huber (Autor:in)

    Erscheinungsdatum :

    2006


    Format / Umfang :

    7 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Robonaut Mobile Autonomy: Initial Experiments

    Diftler, M. A. / Ambrose, R. O. / Goza, S. M. et al. | NTRS | 2006


    Robonaut. Robosim

    Christianson, David | NTRS | 2004


    Robonaut 2 — Initial activities on-board the ISS

    Diftler, M. A. / Ahlstrom, T. D. / Ambrose, R. O. et al. | IEEE | 2012


    Robonaut. Robosim

    D. Christianson | NTIS | 2009


    Robonaut 2 - Initial Activities On-Board the ISS

    Diftler, M. A. / Greene, B. D. / Joyce, Charles et al. | NTRS | 2011