Using Virtual Articulations to Operate High-DoF Manipulation and Inspection Motions
We have developed a new operator interface system for high-DoF articulated robots based on the idea of allowing the operator to extend the robot’s actual kinematics with virtual articulations. These virtual links and joints can model both primary task DoF and constraints on whole-robot coordinate...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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International Conference on Field and Service Robotics
2011
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| Online Access: | http://hdl.handle.net/1721.1/63171 https://orcid.org/0000-0001-5473-3566 |
| _version_ | 1826205287549239296 |
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| author | Vona, Marsette A. Mittman, David Norris, Jeffrey S. Rus, Daniela L. |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Vona, Marsette A. Mittman, David Norris, Jeffrey S. Rus, Daniela L. |
| author_sort | Vona, Marsette A. |
| collection | MIT |
| description | We have developed a new operator interface system for high-DoF articulated
robots based on the idea of allowing the operator to extend the robot’s actual
kinematics with virtual articulations. These virtual links and joints can model both
primary task DoF and constraints on whole-robot coordinated motion. Unlike other
methods, our approach can be applied to robots and tasks of arbitrary kinematic
topology, and allows specifying motion with a scalable level of detail. We present
hardware results where NASA/JPL’s All-Terrain Hex-Legged Extra-Terrestrial Explorer
(ATHLETE) executes previously challenging inspection and manipulation
motions involving coordinated motion of all 36 of the robot’s joints. |
| first_indexed | 2024-09-23T13:10:20Z |
| format | Article |
| id | mit-1721.1/63171 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T13:10:20Z |
| publishDate | 2011 |
| publisher | International Conference on Field and Service Robotics |
| record_format | dspace |
| spelling | mit-1721.1/631712022-09-28T12:23:26Z Using Virtual Articulations to Operate High-DoF Manipulation and Inspection Motions Vona, Marsette A. Mittman, David Norris, Jeffrey S. Rus, Daniela L. Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Rus, Daniela L. Vona, Marsette A. Rus, Daniela L. We have developed a new operator interface system for high-DoF articulated robots based on the idea of allowing the operator to extend the robot’s actual kinematics with virtual articulations. These virtual links and joints can model both primary task DoF and constraints on whole-robot coordinated motion. Unlike other methods, our approach can be applied to robots and tasks of arbitrary kinematic topology, and allows specifying motion with a scalable level of detail. We present hardware results where NASA/JPL’s All-Terrain Hex-Legged Extra-Terrestrial Explorer (ATHLETE) executes previously challenging inspection and manipulation motions involving coordinated motion of all 36 of the robot’s joints. Jet Propulsion Laboratory (U.S.). Director's Research and Development Fund National Science Foundation (U.S.). Office of Emerging Frontiers in Research and Innovation 2011-06-02T18:13:38Z 2011-06-02T18:13:38Z 2009-07 Article http://purl.org/eprint/type/ConferencePaper http://hdl.handle.net/1721.1/63171 Vona, Marsette et al. "Using Virtual Articulations to Operate High-DoF Inspection and Manipulation Motions" International Conference on Field and Service Robotics, 7th, 2009. https://orcid.org/0000-0001-5473-3566 en_US http://www.rec.ri.cmu.edu/fsr09/papers/FSR2009_0033_a634a196d0287b318c16c563dee021fe.pdf International Conference on Field and Service Robotics, 7th, 2009 Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf International Conference on Field and Service Robotics MIT web domain |
| spellingShingle | Vona, Marsette A. Mittman, David Norris, Jeffrey S. Rus, Daniela L. Using Virtual Articulations to Operate High-DoF Manipulation and Inspection Motions |
| title | Using Virtual Articulations to Operate High-DoF Manipulation and Inspection Motions |
| title_full | Using Virtual Articulations to Operate High-DoF Manipulation and Inspection Motions |
| title_fullStr | Using Virtual Articulations to Operate High-DoF Manipulation and Inspection Motions |
| title_full_unstemmed | Using Virtual Articulations to Operate High-DoF Manipulation and Inspection Motions |
| title_short | Using Virtual Articulations to Operate High-DoF Manipulation and Inspection Motions |
| title_sort | using virtual articulations to operate high dof manipulation and inspection motions |
| url | http://hdl.handle.net/1721.1/63171 https://orcid.org/0000-0001-5473-3566 |
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