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Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation

Hebert, Paul and Ma, Jeremy and Borders, James and Aydemir, Alper and Bajracharya, Max and Hudson, Nicolas and Shankar, Krishna and Karumanchi, Sisir and Douillard, Bertrand and Burdick, Joel W. (2015) Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation. In: 2015 IEEE International Conference on Robotics and Automation (ICRA 2015). IEEE , Piscataway, NJ, pp. 5509-5516. ISBN 978-1-4799-6923-4/15. https://resolver.caltech.edu/CaltechAUTHORS:20150520-092856327

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Abstract

The use of the cognitive capabilities of humans to help guide the autonomy of robotics platforms in what is typically called “supervised-autonomy” is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a “Supervised Remote Robot with Guided Autonomy and Teleoperation” (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of “behaviors” to chain together sequences of “actions” for the robot to perform which is then executed real time.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ICRA.2015.7139969DOIArticle
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7139969PublisherArticle
Additional Information:Copyright 2015 California Institute of Technology. The research described in this paper was carried out by the Jet Propulsion Laboratory, California Institute of Technology. Copyright 2015 California Institute of Technology. U.S. Government sponsorship acknowledged.
Record Number:CaltechAUTHORS:20150520-092856327
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20150520-092856327
Official Citation:Hebert, P.; Ma, J.; Borders, J.; Aydemir, A.; Bajracharya, M.; Hudson, N.; Shankar, K.; Karumanchi, S.; Douillard, B.; Burdick, J., "Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A framework for whole-body manipulation," Robotics and Automation (ICRA), 2015 IEEE International Conference on , vol., no., pp.5509,5516, 26-30 May 2015
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:57692
Collection:CaltechAUTHORS
Deposited By: Krishna Shankar
Deposited On:20 May 2015 18:47
Last Modified:03 Oct 2019 08:27

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