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How can a robot design a sequence of grasping actions that will succeed despite the presence of bounded state uncertainty and an inherently stochastic system? In this letter, we propose a probabilistic algorithm that generates sequential actions to iteratively reduce uncertainty until object pose is uniquely known (subject to symmetry). The plans assume encoder feedback that gives a geometric partition...
This paper documents near-autonomous negotiation of synthetic and natural climbing terrain by a rugged legged robot, achieved through sequential composition of appropriate perceptually triggered locomotion primitives. The first, simple composition achieves autonomous uphill climbs in unstructured outdoor terrain while avoiding surrounding obstacles such as trees and bushes. The second, slightly more...
We present a framework for detecting, identifying, and recovering within stride from faults and other leg contact disturbances encountered by a walking hexapedal robot. Detection is achieved by means of a software contact-event sensor with no additional sensing hardware beyond the commercial actuators' standard shaft encoders. A simple finite state machine identifies disturbances as due either to...
We propose a method for multi-modal scene exploration where initial object hypothesis formed by active visual segmentation are confirmed and augmented through haptic exploration with a robotic arm. We update the current belief about the state of the map with the detection results and predict yet unknown parts of the map with a Gaussian Process. We show that through the integration of different sensor...
This video highlights work to date on the Yobotics-IHMC lower body humanoid robot. The robot is a twelve degree-of-freedom robot with force controllable series elastic actuators at each degree of freedom. Control algorithms utilize virtual model control, and foot placement is determined using capture regions. The robot can recover from moderate disturbances and walk on flat ground. Ongoing work is...
Current fully autonomous robots are unable to navigate effectively in visually complex environments due to limitations in sensing and cognition. Full teleoperation using current interfaces is difficult and the operator often makes navigation mistakes due to lack of operating environment information and a limited field of view. We present a novel method for combining the sensing and cognition of a...
Several key aspects of coordination such as teamwork, roles, and communication, are enabled and driven by, and even largely defined by, various systems of regulation. One key feature of all these elements in human coordination is their dynamic nature. We have developed a framework to provide a dynamic regulatory system for supporting coordination in human-robot teamwork. This framework supports the...
This paper addresses the problems of real-time localization and 3D depth estimation across disparate sensing systems. The sensing systems include wireless microelectromechanical systems (MEMS) sensor networks, such as MICA sensors by Crossbow Inc., radio frequency identification (RFID) tags and cameras that capture a variety of spectra. Some of the sensing is adaptive in time and space by using a...
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