Supervised Autonomous Locomotion and Manipulation for Disaster Response with a Centaur-like Robot

被引：0

作者：

Klamt, Tobias ^{[1
]}

Rodriguez, Diego ^{[1
]}

Schwarz, Max ^{[1
]}

Lenz, Christian ^{[1
]}

Pavlichenko, Dmytro ^{[1
]}

Droeschel, David ^{[1
]}

Behnke, Sven ^{[1
]}

机构：

[1] Univ Bonn, Autonomous Intelligent Syst Grp, Bonn, Germany

来源：

2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2018年

基金：

欧盟地平线“2020”;

关键词：

DESIGN;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Mobile manipulation tasks are one of the key challenges in the field of search and rescue (SAR) robotics requiring robots with flexible locomotion and manipulation abilities. Since the tasks are mostly unknown in advance, the robot has to adapt to a wide variety of terrains and workspaces during a mission. The centaur-like robot Centauro has a hybrid legged-wheeled base and an anthropomorphic upper body to carry out complex tasks in environments too dangerous for humans. Due to its high number of degrees of freedom, controlling the robot with direct teleoperation approaches is challenging and exhausting. Supervised autonomy approaches are promising to increase quality and speed of control while keeping the flexibility to solve unknown tasks. We developed a set of operator assistance functionalities with different levels of autonomy to control the robot for challenging locomotion and manipulation tasks. The integrated system was evaluated in disaster response scenarios and showed promising performance.

引用

页码：5483 / 5490

页数：8