A mobile version of the NASA/DARPA Robonaut humanoid recently completed initial autonomy trials working directly with humans in cluttered environments. This compact robot combines the upper body of the Robonaut system with a Segway Robotic Mobility Platform yielding a dexterous, maneuverable humanoid ideal for interacting with human co-workers in a range of environments. This system uses stereovision to locate human teammates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form complex behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.


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    Title :

    Robonaut Mobile Autonomy: Initial Experiments


    Contributors:
    M. A. Diftler (author) / R. O. Ambrose (author) / S. M. Goza (author) / K. S. Tyree (author) / E. L. Huber (author)

    Publication date :

    2006


    Size :

    7 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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