Bauer, Adrian Simon und Schmaus, Peter und Albu-Schäffer, Alin und Leidner, Daniel (2018) Inferring Semantic State Transitions During Telerobotic Manipulation. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Seiten 5517-5524. IEEE. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018-10-01 - 2018-10-05, Madrid, Spain. doi: 10.1109/IROS.2018.8594458. ISBN 978-153868094-0. ISSN 2153-0858.
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Offizielle URL: https://ieeexplore.ieee.org/document/8594458
Kurzfassung
Human teleoperation of robots and autonomous operations go hand in hand in today’s service robots. While robot teleoperation is typically performed on low to medium levels of abstraction, automated planning has to take place on a higher abstraction level, i.e. by means of semantic reasoning. Accordingly, an abstract state of the world has to be maintained in order to enable an operator to switch seamlessly between both operational modes. We propose a novel approach that combines simulation based geometric tracking and semantic state inference by means of so called State Inference Entities to overcome this issue. We also demonstrate how Evolutionary Strategies can be employed to refine simulation parameters. All experiments are demonstrated in real-world experiments conducted with the humanoid robot Rollin’ Justin.
elib-URL des Eintrags: | https://elib.dlr.de/121916/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Inferring Semantic State Transitions During Telerobotic Manipulation | ||||||||||||||||||||
Autoren: |
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Datum: | Oktober 2018 | ||||||||||||||||||||
Erschienen in: | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
DOI: | 10.1109/IROS.2018.8594458 | ||||||||||||||||||||
Seitenbereich: | Seiten 5517-5524 | ||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||
ISSN: | 2153-0858 | ||||||||||||||||||||
ISBN: | 978-153868094-0 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Shared Autonomy, Traded Autonomy, Semantic Reasoning, State Estimation, Space Robotics | ||||||||||||||||||||
Veranstaltungstitel: | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||||||
Veranstaltungsort: | Madrid, Spain | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 1 Oktober 2018 | ||||||||||||||||||||
Veranstaltungsende: | 5 Oktober 2018 | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Intelligente Mobilität (alt), R - On-Orbit Servicing [SY] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Kognitive Robotik Institut für Robotik und Mechatronik (ab 2013) > Autonomie und Fernprogrammierung | ||||||||||||||||||||
Hinterlegt von: | Bauer, Adrian Simon | ||||||||||||||||||||
Hinterlegt am: | 29 Nov 2018 15:53 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:25 |
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