Teleoperation is the dominant form of dexterous robotic tasks in the field. However, there are many use cases in which direct teleoperation is not feasible such as disaster areas with poor communication as posed in the DARPA Robotics Challenge, or robot operations on spacecraft a large distance from Earth with long communication delays. Presented is a solution that combines the Affordance Template Framework for object interaction with TaskForce for supervisory control in order to accomplish high level task objectives with basic autonomous behavior from the robot. TaskForce, is a new commanding infrastructure that allows for optimal development of task execution, clear feedback to the user to aid in off-nominal situations, and the capability to add autonomous verification and corrective actions. This framework has allowed the robot to take corrective actions before requesting assistance from the user. This framework is demonstrated with Robonaut 2 removing a Cargo Transfer Bag from a simulated logistics resupply vehicle for spaceflight using a single operator command. This was executed with 80% success with no human involvement, and 95% success with limited human interaction. This technology sets the stage to do any number of high level tasks using a similar framework, allowing the robot to accomplish tasks with minimal to no human interaction.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Supervisory Control of a Humanoid Robot in Microgravity for Manipulation Tasks


    Beteiligte:
    L. C. Farrell (Autor:in) / P. Strawser (Autor:in) / K. Hambuchen (Autor:in) / W. Baker (Autor:in) / J. Badger (Autor:in)

    Erscheinungsdatum :

    2017


    Format / Umfang :

    6 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Supervisory Control of a Humanoid Robot in Microgravity for Manipulation Tasks

    Farrell, Logan / Strawser, Phil / Hambuchen, Kimberly et al. | NTRS | 2017


    Supervisory Control of a Humanoid Robot in Microgravity for Manipulation Tasks

    Farrell, Logan C. / Strawser, Phil / Hambuchen, Kimberly et al. | NTRS | 2017


    Supervisory control of manipulation

    Ferrell, W. R. / Sheridan, T. B. | NTRS | 1967


    Pivoting based manipulation by a humanoid robot

    Yoshida, E. | British Library Online Contents | 2010


    Manipulation planning for the Atlas humanoid robot

    Du, Cong / Lee, Kit-Hang / Newman, Wyatt | IEEE | 2014