An Architecture for Online Affordance-based Perception and Whole-body Planning

• Published in: Journal of field robotics Vol. 32; no. 2; pp. 229 - 254
• Main Authors: Fallon, Maurice, Kuindersma, Scott, Karumanchi, Sisir, Antone, Matthew, Schneider, Toby, Dai, Hongkai, D'Arpino, Claudia Pérez, Deits, Robin, DiCicco, Matt, Fourie, Dehann, Koolen, Twan, Marion, Pat, Posa, Michael, Valenzuela, Andrés, Yu, Kuan-Ting, Shah, Julie, Iagnemma, Karl, Tedrake, Russ, Teller, Seth
• Format: Journal Article
• Language: English
• Published: Hoboken Blackwell Publishing Ltd 01.03.2015; Wiley Subscription Services, Inc
• Subjects: Architecture; Command and control; Computer programs; Design engineering; Human; Operators; Perception; Robotics; Robots
• ISSN: 1556-4959; 1556-4967
• DOI: 10.1002/rob.21546

The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor suite transmitted over a constrained, field‐realistic communications link. We describe the design considerations, architecture, implementation, and performance of the software that Team MIT developed to command and control an Atlas humanoid robot. Our design emphasized human interaction with an efficient motion planner, where operators expressed desired robot actions in terms of affordances fit using perception and manipulated in a custom user interface. We highlight several important lessons we learned while developing our system on a highly compressed schedule.