Guided Manipulation Planning at the DARPA Robotics Challenge Trials

Christopher Dellin, Kyle Strabala, Galen Clark Haynes, David Stager, and Siddhartha Srinivasa
2014 International Symposium on Experimental Robotics (ISER 2014), July, 2014.


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Abstract
We document the empirical results from Carnegie Mellon University’s entry into the DARPA Robotics Challenge. Our system seamlessly and intelligently integrates recent advances in autonomous manipulation with the perspective and intuition of an expert human operator. Virtual fixtures are used as the common language between the operator and the motion planner. The planning system then solves a guided manipulation problem to perform disaster-response tasks.

Notes

Text Reference
Christopher Dellin, Kyle Strabala, Galen Clark Haynes, David Stager, and Siddhartha Srinivasa, "Guided Manipulation Planning at the DARPA Robotics Challenge Trials," 2014 International Symposium on Experimental Robotics (ISER 2014), July, 2014.

BibTeX Reference
@inproceedings{Dellin_2014_7614,
   author = "Christopher Dellin and Kyle Strabala and Galen Clark Haynes and David Stager and Siddhartha Srinivasa",
   title = "Guided Manipulation Planning at the DARPA Robotics Challenge Trials",
   booktitle = "2014 International Symposium on Experimental Robotics (ISER 2014)",
   month = "July",
   year = "2014",
}