Robust shared autonomy for mobile manipulation with continuous scene monitoring
Robust shared autonomy for mobile manipulation with continuous scene monitoring
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DOI：
10.1109/coase.2017.8256092
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发表时间：
2017-08
期刊：
影响因子：
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通讯作者：
W. Merkt;Yiming Yang;Theodoros Stouraitis;Christopher E. Mower;M. Fallon;S. Vijayakumar
中科院分区：
文献类型：
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作者：
W. Merkt;Yiming Yang;Theodoros Stouraitis;Christopher E. Mower;M. Fallon;S. Vijayakumar
这项工作提供了一个完全集成的系统，使用密集的视觉映射、无碰撞的运动规划和共享的自主性，实现可靠的抓取和操纵。特定的运动序列是基于由操作员提供的高级目标自动合成的，在执行期间具有连续的场景监视，自动检测并适应环境的动态变化。该系统能够自动从各种干扰中恢复，并在卡住或无法以其他方式保证安全时回到操作员身边。此外，操作员可以随时控制，然后恢复自主操作。我们的系统可以灵活地适应新的机器人系统，我们在两个真实世界的平台上-固定和浮动基座-在共享工作空间场景中演示了我们的工作。据我们所知，这项工作也是第一次使用反向动态可达图进行实时、优化的移动基地定位，以最大限度地提高工作空间的可操作性，减少周期时间，并增加规划和自主的健壮性。
This work presents a fully integrated system for reliable grasping and manipulation using dense visual mapping, collision-free motion planning, and shared autonomy. The particular motion sequences are composed automatically based on high-level objectives provided by a human operator, with continuous scene monitoring during execution automatically detecting and adapting to dynamic changes of the environment. The system is able to automatically recover from a variety of disturbances and fall back to the operator if stuck or if it cannot otherwise guarantee safety. Furthermore, the operator can take control at any time and then resume autonomous operation. Our system is flexible to be adapted to new robotic systems, and we demonstrate our work on two real-world platforms — fixed and floating base — in shared workspace scenarios. To the best of our knowledge, this work is also the first to employ the inverse Dynamic Reachability Map for real-time, optimized mobile base positioning to maximize workspace manipulability reducing cycle time and increasing planning and autonomy robustness.