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.
Worcester Polytechnic Institute
All authors have granted to WPI a nonexclusive royalty-free license to distribute copies of the work. Copyright is held by the author or authors, with all rights reserved, unless otherwise noted. If you have any questions, please contact firstname.lastname@example.org.
Banerjee, Nandan, "Human Supervised Semi-Autonomous Approach for the DARPA Robotics Challenge Door Task" (2015). Masters Theses (All Theses, All Years). 584.
robot, atlas, perception, door detection, step planning