Abstract
This paper presents our progress toward a user-guided manipulation framework for high degree-of-freedom robots operating in environments with limited communication. The system we propose consists of three components: (1) a user-guided perception interface that assists the user in providing task-level commands to the robot, (2) planning algorithms that autonomously generate robot motion while obeying relevant constraints, and (3) a trajectory execution and monitoring system which detects errors in execution. We report quantitative experiments performed on these three components and qualitative experiments of the entire pipeline with the PR2 robot turning a valve for the DARPA robotics challenge. We also describe how the framework was ported to the Hubo2+ robot with minimal changes which demonstrates its applicability to different types of robots.
Similar content being viewed by others
Notes
A video of the framework in operation can be seen at: http://www.youtube.com/watch?v=xRcUO2mXt3s.
References
Almetwally I, Mallem M (2013) Real-time tele-operation and tele-walking of humanoid robot nao using kinect depth camera. In: IEEE International Conference on Networking, Sensing and Control, pp 463–466
Argall BD, Chernova S, Veloso M, Browning B (2009) A survey of robot learning from demonstration. Robotics and Autonomous Systems 57(5):469–483
Arkin RC, Balch T (1997) AuRA: Principles and Practice in Review. Journal of Experimental and Theoretical Artificial Intelligence 9:175–189
Berenson D, Srinivasa S, Kuffner J (2011) Task Space Regions: A Framework for Pose-Constrained Manipulation Planning. International Journal of Robotics Research 30(12):1435–1460
Berenson D, Abbeel P, Goldberg K (2012) A robot path planning framework that learns from experience. In: IEEE International Conference on Robotics and Automation, pp 3671–3678, doi:10.1109/ICRA.2012.6224742
Besl P, McKay ND (1992) A method for registration of 3-D shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence 14(2):239–256
Biesiadecki J, Leger C, Maimone M (2007) Tradeoffs between directed and autonomous driving on the mars exploration rovers. In: Thrun S, Brooks R, Durrant-Whyte H (eds) Robotics Research, Springer Tracts in Advanced Robotics, vol 28. Springer, Berlin Heidelberg, pp 254–267
Burridge R, Hambuchen K (2009) Using prediction to enhance remote robot supervision across time delay. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 5628–5634
Butner S, Ghodoussi M (2003) Transforming a surgical robot for human telesurgery. IEEE Transactions on Robotics and Automation 19(5):818–824
Carbone M, Rizzo L (2010) Dummynet revisited. ACM SIGCOMM Computer Communication Review 40(2):12
Chen TL, Ciocarlie M, Cousins S, Grice P, Hawkins K, Hsiao K, Kemp CC, King CH, Lazewatsky DA, Leeper A, Nguyen H, Paepcke A, Pantofaru C, Smart WD, Takayama L (2012) Robots for humanity: User-centered design for assistive mobile manipulation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 5434–5435
Chitta S, Jones EG, Ciocarlie M, Hsiao K (2012) Perception, Planning, and Execution for Mobile Manipulation in Unstructured Environments. IEEE Robotics and Automation Magazine, Special Issue on Mobile Manipulation 19(2):58–71
Cho BK, Park SS, ho Oh J (2009) Controllers for running in the humanoid robot, HUBO. In: IEEE-RAS International Conference on Humanoid Robots
Craighead J, Murphy R, Burke J, Goldiez B (2007) A survey of commercial open source unmanned vehicle simulators. In: IEEE International Conference on Robotics and Automation, pp 852–857
Dang H, Jun Y, Oh P, Allen P (2013) Planning complex physical tasks for disaster response with a humanoid robot. In: IEEE International Conference on Technologies for Practical Robot Applications, pp 1–6
Dantam N, Stilman M (2012) Robust and efficient communication for real-time multi-process robot software. In: IEEE-RAS International Conference on Humanoid Robots
DARPA Tactical Technology Office (2012) DARPA Robotics Challenge Broad Agency Announcement. [Online; accessed 16-Jan-2013]
Diankov R, Kuffner J (2008) OpenRAVE: A planning architecture for autonomous robotics. Tech. Rep. CMU-RI-TR-08-34, Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania
Diftler M, Mehling J, Abdallah M, Radford N, Bridgwater L, Sanders AM, Askew RS, Linn D, Yamokoski J, Permenter F, Hargrave B, Piatt R, Savely R, Ambrose R (2011) Robonaut 2 - the first humanoid robot in space. In: IEEE International Conference on Robotics and Automation, pp 2178–2183
Ferrell W, Sheridan T (1967) Supervisory control of remote manipulation. IEEE Spectrum 4(10):81–88
Gossow D, Leeper A, Hershberger D, Ciocarlie M (2011) Interactive Markers: 3-D User Interfaces for ROS Applications. IEEE Robotics and Automation Magazine 18(4):14–15
Grey M, Dantam N, Lofaro D, Bobick A, Egerstedt M, Oh P, Stilman M (2013) Multi-process control software for HUBO2 Plus robot. In: IEEE International Conference on Technologies for Practical Robot Applications, pp 1–6
Hannaford B (1989) A design framework for teleoperators with kinesthetic feedback. IEEE Transactions on Robotics and Automation 5(4):426–434
Harris A, Conrad J (2011) Survey of popular robotics simulators, frameworks, and toolkits. In: IEEE Southeastcon, pp 243–249
Hobbelen D, de Boer T, Wisse M (2008) System overview of bipedal robots flame and tulip: Tailor-made for limit cycle walking. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 2486–2491
Hornung A, Phillips M, Jones E, Bennewitz M, Likhachev M, Chitta S (2012) Navigation in three-dimensional cluttered environments for mobile manipulation. In: IEEE International Conference on Robotics and Automation, pp 423–429
Hsiao K, Ciocarlie M, Brook P (2011) Bayesian Grasp Planning. ICRA 2011 Workshop on Mobile Manipulation: Integrating Perception and Manipulation
Khatib O (1987) A unified approach for motion and force control of robot manipulators: The operational space formulation. IEEE Journal of Robotics and Automation 3(1):43–53
Koenig N, Howard A (2004) Design and use paradigms for Gazebo, an open-source multi-robot simulator. IEEE/RSJ International Conference on Intelligent Robots and Systems 3:2149–2154
Leeper A, Hsiao K, Ciocarlie M, Takayama L, Gossow D (2012) Strategies for human-in-the-loop robotic grasping. In: ACM/IEEE International Conference on Human-Robot Interaction, pp 1–8
Lofaro DM, Oh P (2012) Humanoid Throws Inaugural Pitch at Major League Baseball Game: Challenges, Approach, Implementation and Lessons Learned. In: IEEE/RSJ International Conference on Intelligent Robots and Systems
Lum M, Rosen J, King H, Friedman D, Lendvay T, Wright A, Sinanan M, Hannaford B (2009) Teleoperation in surgical robotics - network latency effects on surgical performance. In: International Conference of the IEEE Engineering in Medicine and Biology Society, pp 6860–6863
Luo J, Zhang Y, Hauser K, Park H, Paldhe M, Lee C, Grey M, Stilman M, Oh J, Lee J, Kim I, Oh P (2014) Robust ladder-climbing with a humanoid robot with application to the darpa robotics challenge. In: IEEE International Conference on Robotics and Automation (to appear)
Medeiros AAD (1998), A survey of control architectures for autonomous mobile robots. Journal of the Brazilian Computer Society 4
Miller A, Allen P (2004) Graspit! a versatile simulator for robotic grasping. IEEE Robotics and Automation Magazine 11(4):110–122
Oestges C, Montenegro-Villacieros B, Vanhoenacker-Janvier D (2009) Modeling propagation into collapsed buildings for radio-localization-based rescue search missions. In: IEEE Antennas and Propagation Society International Symposium, pp 1–4
O’Flaherty R, Vieira P, Grey M, Oh P, Bobick A, Egerstedt M, Stilman M (2013) Humanoid robot teleoperation for tasks with power tools. In: IEEE International Conference on Technologies for Practical Robot Applications, pp 1–6
Phillips-Grafflin C (2013) Hubo ROS Core. https://github.com/WPI-ARC/hubo_ros_core
Phillips-Grafflin C (2013) Unreliable Network Communication Toolkit. https://github.com/WPI-ARC/teleop_toolkit
Pirjanian P, Huntsberger T, Trebi-Ollennu A, Aghazarian H, Das H, Joshi S, Schenker P (2000) CAMPOUT: A control architecture for multi-robot planetary outposts. Proceedings of SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems III 4196:221–230
Pordel M, Hellstrom T (2013) Robotics architecture frameworks, available tools and further requirements. UMINF
Quigley M, Gerkey B, Conley K, Faust J, Foote T, Leibs J, Berger E, Wheeler R, Ng A (2009) ROS: an open-source Robot Operating System. In: ICRA workshop on open source software
Rasmussen C, Yuvraj K, Vallett R, Sohn K, Oh P (2013) Towards functional labeling of utility vehicle point clouds for humanoid driving. In: IEEE International Conference on Technologies for Practical Robot Applications, pp 1–6
Rusu RB, Cousins S (2011) 3D is here: Point Cloud Library (PCL). IEEE International Conference on Robotics and Automation. Shanghai, China, pp 1–4
Rybski P, Stoeter S, Gini M, Hougen D, Papanikolopoulos N (2001) Effects of limited bandwidth communications channels on the control of multiple robots. IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE 1:369–374
Sarabia M, Ros R, Demiris Y (2011) Towards an open-source social middleware for humanoid robots. In: IEEE-RAS International Conference on Humanoid Robots, pp 670–675
Sart D, Mueen A, Najjar W, Keogh E, Niennattrakul V (2010) Accelerating Dynamic Time Warping Subsequence Search with GPUs and FPGAs. In: IEEE International Conference on Data Mining, pp 1001–1006
Senin P (2008) Dynamic time warping algorithm review. Information and Computer Science Department University of Hawaii at Manoa Honolulu, USA pp 1–23
Skrzypczyliski P (1997) Supervision and teleoperation system for an autonomous mobile robot. IEEE/RSJ International Conference on Intelligent Robots and Systems 2:1177–1181
Stilman M (2007) Task constrained motion planning in robot joint space. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, pp 3074–3081
Stulp F, Fedrizzi A, Mösenlechner L, Beetz M (2012) Learning and reasoning with action-related places for robust mobile manipulation. Artificial Intelligence Research 43(1):1–42
Taylor ME, Suay HB, Chernova S (2011) Integrating reinforcement learning with human demonstrations of varying ability. In: The 10th International Conference on Autonomous Agents and Multiagent Systems - Volume 2
Yakey J, LaValle SM, Kavraki LE (2001) Randomized Path Planning for Linkages with Closed Kinematics Chains. IEEE Transactions on Robotics and Automation 17(6):951–959
Zheng Y, Wang H, Li S, Liu Y, Orin D, Sohn K, Jun Y, Oh P (2013) Humanoid robots walking on grass, sands and rocks. In: IEEE International Conference on Technologies for Practical Robot Applications, pp 1–6
Zucker M, Jun Y, Killen B, Kim TG, Oh P (2013) Continuous trajectory optimization for autonomous humanoid door opening. In: IEEE International Conference on Technologies for Practical Robot Applications, pp 1–5
Acknowledgments
This work was supported in part by the Defense Advanced Research Projects Agency (DARPA) award #N65236-12-1-1005 for the DARPA Robotics Challenge. We would also like to thank Russ Tedrake of CSAIL, MIT for allowing us to use his Hubo for testing.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Phillips-Grafflin, C., Alunni, N., Suay, H.B. et al. Toward a user-guided manipulation framework for high-DOF robots with limited communication. Intel Serv Robotics 7, 121–131 (2014). https://doi.org/10.1007/s11370-014-0156-8
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11370-014-0156-8