Enabling Rapid End-to-End Programming of Mobile Manipulators
Enabling Rapid End-to-End Programming of Mobile Manipulators
复制标题
实现移动机械手的快速端到端编程
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Justin Huang
中科院分区：
文献类型：
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作者：
Justin Huang
编程移动机械手机器人需要机器人感知、操作和软件框架的专业知识。这使得没有投入时间学习这些技能的程序员无法接触机器人编程。我们研究的目标是使所有程序员都能开发移动机械手的应用程序，比如清理桌子、抓取物品或与人一起玩游戏。这个扩展的抽象描述了我们目前在Code3上的工作，这是一个所有程序员都可以用来编程机器人的框架。我们进行的一项用户研究表明，非机器人程序员能够使用我们的系统来编程PR2机器人来清理桌子和捡零食。我们还讨论了扩展该系统的计划，以使其对实际用例更有用和可用。
Programming mobile manipulator robots requires specialized knowledge of robot perception, manipulation, and software frameworks. This puts robot programming out of reach for programmers who have not invested the time to learn these skills. The goal of our research is to make it possible for all programmers to develop applications for mobile manipulators such as clearing a table, fetching items, or playing games with people. This extended abstract describes our current work on Code3, a framework that all programmers can use to program robots. A user study we conducted showed that non-roboticist programmers were able to use our system to program a PR2 robot to clear a table and retrieve snacks. We also discuss our plans to extend this system to make it more useful and usable for real-world use cases.