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Human Supervised Semi-Autonomous Approach for the DARPA Robotics Challenge Door Task

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As the field of autonomous robots continue to advance, there is still a tremendous benefit to research human-supervised robot systems for fielding them in practical applications. The DRC inspired by the Fukushima nuclear power plant disaster has been a major research and development program for the past three years, to advance the field of human supervised control of robots for responding to natural and man-made disasters. The overall goal of the research presented in this thesis is to realise a new approach for semi-autonomous control of the Atlas humanoid robot under discrete commands from the human operator. A combination of autonomous and semi-autonomous perception and manipulation techniques to accomplish the task of detecting, opening and walking through a door are presented. The methods are validated in various different scenarios relevant to DRC door task.

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  • English
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  • etd-043015-085121
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  • 2015
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  • 2015-04-30
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Permanent link to this page: https://digital.wpi.edu/show/cv43nw94v