NDLI: From Autonomy to Cooperative Traded Control of Humanoid Manipulation Tasks with Unreliable Communication : Applications to the Valve-turning Task of the DARPA Robotics Challenge and Lessons Learned

Content Provider	Springer Nature Link
Author	Phillips Grafflin, Calder Suay, Halit Bener Mainprice, Jim Alunni, Nicholas Lofaro, Daniel Berenson, Dmitry Cherva, Sonia Lindeman, Robert W. Oh, Paul
Copyright Year	2015
Abstract	In this paper, we present our system design, operational procedure, testing process, field results, and lessons learned for the valve-turning task of the DARPA Robotics Challenge (DRC). We present a software framework for cooperative traded control that enables a team of operators to control a remote humanoid robot over an unreliable communication link. Our system, composed of software modules running on-board the robot and on a remote workstation, allows the operators to specify the manipulation task in a straightforward manner. In addition, we have defined an operational procedure for the operators to manage the teleoperation task, designed to improve situation awareness and expedite task completion. Our testing process, consisting of hands-on intensive testing, remote testing, and remote practice runs , demonstrates that our framework is able to perform reliably and is resilient to unreliable network conditions. We analyze our approach, field tests, and experience at the DRC Trials and discuss lessons learned which may be useful for others when designing similar systems.
Starting Page	341
Ending Page	361
Page Count	21
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	82
Issue Number	3-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2015-09-03
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Humanoid robotics Manipulation Teleoperation Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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