Configurable autonomy applicable to humanoid manipulation in unstructured and communication-limited environment

2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) Pub Date : 2015-12-28 DOI:10.1109/HUMANOIDS.2015.7363577

Yu Ohara, Masaki Murooka, Ryohei Ueda, Shunichi Nozawa, Youhei Kakiuchi, K. Okada, M. Inaba

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引用次数: 8

Abstract

In recent years, humanoids have been expected to play an important part in disaster response due to safety concerns. For disaster response, humanoids should do tasks in unknown and unstructured environments possibly with limited communications. Firstly this paper presents a robot operating system in which complementary integration of autonomous and manual functions is achieved. In our system operator can change the level of automation depending on the situation: operator can modify the result of recognition in 3D Viewer, and can transfer from auto motion generating mode to manual control mode at any time with inheriting some motion parameters. Secondly for the purpose of overcoming communication-limit in disaster site, we propose the method of generating robot motion with little communication between operator and robot. Even when communication is limited, our System can convey necessary information to user by processing past data, always transferring small important data, and showing future motion plans.

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可配置的自主性适用于非结构化和通信受限环境下的类人操作

近年来，由于安全考虑，类人机器人被期望在灾难响应中发挥重要作用。对于灾难响应，类人应该在未知和非结构化的环境中执行任务，可能通信有限。本文首先提出了一种机器人操作系统，实现了自主和手动功能的互补集成。在我们的系统中，操作员可以根据情况改变自动化程度:操作员可以在3D查看器中修改识别结果，并且可以在继承一些运动参数的情况下随时从自动运动生成模式转换为手动控制模式。其次为了克服communication-limit在灾区,我们提出的方法生成机器人运动操作者和机器人之间的通信。即使在通信受限的情况下，我们的系统也可以通过处理过去的数据，始终传输重要的小数据，并显示未来的运动计划，向用户传达必要的信息。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)

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