The Experts below are selected from a list of 74478 Experts worldwide ranked by ideXlab platform
Kimberly Hambuchen - One of the best experts on this subject based on the ideXlab platform.
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The Affordance Template ROS package for robot Task Programming
2015 IEEE International Conference on Robotics and Automation (ICRA), 2015Co-Authors: Stephen Hart, Paul Dinh, Kimberly HambuchenAbstract:This paper introduces the Affordance Template ROS package for quickly Programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers [1] by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the Task (specifically, object scale and location). The Affordance Template package stores Task specifications in a robot-agnostic JSON description format such that it is trivial to apply a template to a new robot. As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulation-based applications. Affordance Templates were developed by the NASA-JSC DARPA Robotics Challenge (DRC) team and have since successfully been deployed on multiple platforms including the NASA Valkyrie and Robonaut 2 humanoids, the University of Texas Dreamer robot and the Willow Garage PR2. In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing its utility and flexibility for a wide variety of robot applications.
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ICRA - The Affordance Template ROS package for robot Task Programming
2015 IEEE International Conference on Robotics and Automation (ICRA), 2015Co-Authors: Stephen Hart, Paul Dinh, Kimberly HambuchenAbstract:This paper introduces the Affordance Template ROS package for quickly Programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers [1] by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the Task (specifically, object scale and location). The Affordance Template package stores Task specifications in a robot-agnostic JSON description format such that it is trivial to apply a template to a new robot. As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulation-based applications. Affordance Templates were developed by the NASA-JSC DARPA Robotics Challenge (DRC) team and have since successfully been deployed on multiple platforms including the NASA Valkyrie and Robonaut 2 humanoids, the University of Texas Dreamer robot and the Willow Garage PR2. In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing its utility and flexibility for a wide variety of robot applications.
Stefano Caselli - One of the best experts on this subject based on the ideXlab platform.
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Object interaction and Task Programming by demonstration in visuo-haptic augmented reality
Multimedia Systems, 2015Co-Authors: Jacopo Aleotti, Giorgio Micconi, Stefano CaselliAbstract:A visuo-haptic augmented reality system is presented for object manipulation and Task learning from human demonstration. The proposed system consists of a desktop augmented reality setup where users operate a haptic device for object interaction. Users of the haptic device are not co-located with the environment where real objects are present. A three degrees of freedom haptic device, providing force feedback, is adopted for object interaction by pushing, selection, translation and rotation. The system also supports physics-based animation of rigid bodies. Virtual objects are simulated in a physically plausible manner and seem to coexist with real objects in the augmented reality space. Algorithms for calibration, object recognition, registration and haptic rendering have been developed. Automatic model-based object recognition and registration are performed from 3D range data acquired by a moving laser scanner mounted on a robot arm. Several experiments have been performed to evaluate the augmented reality system in both single-user and collaborative Tasks. Moreover, the potential of the system for Programming robot manipulation Tasks by demonstration is investigated. Experiments show that a precedence graph, encoding the sequential structure of the Task, can be successfully extracted from multiple user demonstrations and that the learned Task can be executed by a robot system.
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ICRA - On the potential of physics-based animation for Task Programming in virtual reality
2009 IEEE International Conference on Robotics and Automation, 2009Co-Authors: Jacopo Aleotti, Stefano CaselliAbstract:Physics-based animation is becoming an essential feature for any advanced simulation software. In this paper we explore potential benefits of physics-based modeling for Task Programming in virtual reality. Firstly, we show how realistic animation of manipulation Tasks can be exploited for learning sequential constraints from user demonstrations. In particular, we propose a method where information about physical interaction is used to discover Task precedences and to reason about Task similarities at the goal level. A second contribution of the paper is the application of physics-based modeling to the problem of disassembly sequence planning. Experiments have been performed in a desktop virtual reality environment with dataglove and motion tracker.
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Imitation-Based Task Programming on a Low-Cost Humanoid Robot
Service Robot Applications, 2008Co-Authors: Jacopo Aleotti, Stefano CaselliAbstract:Humanoid robots are complex service platforms with anthropomorphic features, specifically designed for close interaction with humans. Conventional Programming strategies are hardly applicable to humanoids due to the high number of degrees of freedom that must be coordinated concurrently. Therefore, exploiting humanoids’ potential in service Tasks remains an elusive goal. One of the most promising techniques for dealing with humanoid robots is Programming by demonstration, which allows even unexperienced users to easily interact with the robot based on the teaching by showing or imitation paradigm. In particular, the ability to imitate human gestures and follow Task-relevant paths are essential skills for legged humanoid robots, as they provide the fundamental techniques for physical human-robot interaction. This chapter investigates the potential of imitation in Programming humanoid motor skills. As target platform, we have adapted a Robosapien V2 (RSV2), a low-cost small humanoid available in the toy market. The chapter focuses on the teaching of basic, humanoid-relevant skills such as body postures and walking paths. We have explored and combined multiple sensing sources to capture human motion for imitation purposes, namely a dataglove, an electromagnetic motion tracker, and a monocular vision system for landmark recognition. The imitation approach illustrated in this chapter is rather general, even though its implementation is constrained by limitations of RSV2 and by sensor inaccuracies. In particular, the chapter reports successful experiments on gesture imitation, including arms motion as well as upper body and head movements. The gesture repertoire learned by the robot can serve both as a body language for understanding human requests in human-robot interaction and as a set of primitives which can be combined for Programming more complex Tasks. We believe that a deep assessment of a low-cost humanoid robot is extremely important for the robotic research community since the technological requirements and the costs to develop more advanced humanoid robots still prevent them to become broadly available. Currently, most high-end humanoids are developed as prototypes platforms under the supervision of important private companies. Therefore, low-cost humanoid platforms such as RSV2 provide an exciting and affordable opportunity for research in humanoid integration in service Tasks.
Taskin Padir - One of the best experts on this subject based on the ideXlab platform.
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template based human supervised robot Task Programming
Intelligent Robots and Systems, 2016Co-Authors: Xianchao Long, Taskin PadirAbstract:Motions of a robot interacting with its environment can be described by a set of constraints. This paper introduces an approach, called motion template, which can quickly program and compose the constraints for the motion planner to generate the trajectory. Two types of motion templates, grasp and turn, are specifically described to explain the details of the technique. The reusability and shareability properties of the motion template are demonstrated using a variety of the motion planning applications across different robot platforms. A motion template framework is used to implement the motion template with the trajectory optimization.
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IROS - Template-based human supervised robot Task Programming
2016 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2016Co-Authors: Xianchao Long, Taskin PadirAbstract:Motions of a robot interacting with its environment can be described by a set of constraints. This paper introduces an approach, called motion template, which can quickly program and compose the constraints for the motion planner to generate the trajectory. Two types of motion templates, grasp and turn, are specifically described to explain the details of the technique. The reusability and shareability properties of the motion template are demonstrated using a variety of the motion planning applications across different robot platforms. A motion template framework is used to implement the motion template with the trajectory optimization.
Stephen Hart - One of the best experts on this subject based on the ideXlab platform.
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The Affordance Template ROS package for robot Task Programming
2015 IEEE International Conference on Robotics and Automation (ICRA), 2015Co-Authors: Stephen Hart, Paul Dinh, Kimberly HambuchenAbstract:This paper introduces the Affordance Template ROS package for quickly Programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers [1] by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the Task (specifically, object scale and location). The Affordance Template package stores Task specifications in a robot-agnostic JSON description format such that it is trivial to apply a template to a new robot. As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulation-based applications. Affordance Templates were developed by the NASA-JSC DARPA Robotics Challenge (DRC) team and have since successfully been deployed on multiple platforms including the NASA Valkyrie and Robonaut 2 humanoids, the University of Texas Dreamer robot and the Willow Garage PR2. In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing its utility and flexibility for a wide variety of robot applications.
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ICRA - The Affordance Template ROS package for robot Task Programming
2015 IEEE International Conference on Robotics and Automation (ICRA), 2015Co-Authors: Stephen Hart, Paul Dinh, Kimberly HambuchenAbstract:This paper introduces the Affordance Template ROS package for quickly Programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers [1] by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the Task (specifically, object scale and location). The Affordance Template package stores Task specifications in a robot-agnostic JSON description format such that it is trivial to apply a template to a new robot. As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulation-based applications. Affordance Templates were developed by the NASA-JSC DARPA Robotics Challenge (DRC) team and have since successfully been deployed on multiple platforms including the NASA Valkyrie and Robonaut 2 humanoids, the University of Texas Dreamer robot and the Willow Garage PR2. In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing its utility and flexibility for a wide variety of robot applications.
Paul Dinh - One of the best experts on this subject based on the ideXlab platform.
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The Affordance Template ROS package for robot Task Programming
2015 IEEE International Conference on Robotics and Automation (ICRA), 2015Co-Authors: Stephen Hart, Paul Dinh, Kimberly HambuchenAbstract:This paper introduces the Affordance Template ROS package for quickly Programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers [1] by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the Task (specifically, object scale and location). The Affordance Template package stores Task specifications in a robot-agnostic JSON description format such that it is trivial to apply a template to a new robot. As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulation-based applications. Affordance Templates were developed by the NASA-JSC DARPA Robotics Challenge (DRC) team and have since successfully been deployed on multiple platforms including the NASA Valkyrie and Robonaut 2 humanoids, the University of Texas Dreamer robot and the Willow Garage PR2. In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing its utility and flexibility for a wide variety of robot applications.
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ICRA - The Affordance Template ROS package for robot Task Programming
2015 IEEE International Conference on Robotics and Automation (ICRA), 2015Co-Authors: Stephen Hart, Paul Dinh, Kimberly HambuchenAbstract:This paper introduces the Affordance Template ROS package for quickly Programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers [1] by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the Task (specifically, object scale and location). The Affordance Template package stores Task specifications in a robot-agnostic JSON description format such that it is trivial to apply a template to a new robot. As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulation-based applications. Affordance Templates were developed by the NASA-JSC DARPA Robotics Challenge (DRC) team and have since successfully been deployed on multiple platforms including the NASA Valkyrie and Robonaut 2 humanoids, the University of Texas Dreamer robot and the Willow Garage PR2. In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing its utility and flexibility for a wide variety of robot applications.
