Humanoid robots have had significant research interest in the past two decades. Their classification as mobile manipulators allows them to work in unstructured environments creating new possibilities for human-robot interaction. Object grasping and manipulation are essential and enabling capabilities for mobile humanoid robots that require reliable perception. This paper presents a perception approach using depth images from an RGB-D camera to estimate the work plane and estimate object positions relative to the robot. Results from experiments with a set of object shapes and scenarios are presented.
A Holistic Approach to Human-Supervised Humanoid Robot Operations in Extreme Environments
Nuclear energy will play a critical role in meeting clean energy targets worldwide. However, nuclear environments are dangerous for humans to operate in due to the presence of highly radioactive materials. Robots can help address this issue by allowing remote access to nuclear and other highly hazardous facilities under human supervision to perform inspection and maintenance tasks during normal operations, help with clean-up missions, and aid in decommissioning. This paper presents our research to help realize humanoid robots in supervisory roles in nuclear environments. Our research focuses on National Aeronautics and Space Administration (NASA’s) humanoid robot, Valkyrie, in the areas of constrained manipulation and motion planning, increasing stability using support contact, dynamic non-prehensile manipulation, locomotion on deformable terrains, and human-in-the-loop control interfaces.
- Award ID(s):
- 1944453
- Publication Date:
- NSF-PAR ID:
- 10334718
- Journal Name:
- Frontiers in Robotics and AI
- Volume:
- 8
- ISSN:
- 2296-9144
- Sponsoring Org:
- National Science Foundation
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Accepted Manuscript1.0
- Publisher's Version of Record
- https://doi.org/10.3389/frobt.2021.550644
