Bauer, Adrian Simon and Schmaus, Peter and Albu-Schäffer, Alin and Leidner, Daniel (2018) Inferring Semantic State Transitions During Telerobotic Manipulation. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, pp. 5517-5524. IEEE. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 01-05 Oct 2018, Madrid, Spain. doi: 10.1109/IROS.2018.8594458. ISBN 978-153868094-0. ISSN 2153-0858.
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Official URL: https://ieeexplore.ieee.org/document/8594458
Abstract
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.
Item URL in elib: | https://elib.dlr.de/121916/ | |||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | |||||||||||||||
Title: | Inferring Semantic State Transitions During Telerobotic Manipulation | |||||||||||||||
Authors: |
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Date: | October 2018 | |||||||||||||||
Journal or Publication Title: | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 | |||||||||||||||
Refereed publication: | Yes | |||||||||||||||
Open Access: | Yes | |||||||||||||||
Gold Open Access: | No | |||||||||||||||
In SCOPUS: | Yes | |||||||||||||||
In ISI Web of Science: | Yes | |||||||||||||||
DOI : | 10.1109/IROS.2018.8594458 | |||||||||||||||
Page Range: | pp. 5517-5524 | |||||||||||||||
Publisher: | IEEE | |||||||||||||||
ISSN: | 2153-0858 | |||||||||||||||
ISBN: | 978-153868094-0 | |||||||||||||||
Status: | Published | |||||||||||||||
Keywords: | Shared Autonomy, Traded Autonomy, Semantic Reasoning, State Estimation, Space Robotics | |||||||||||||||
Event Title: | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems | |||||||||||||||
Event Location: | Madrid, Spain | |||||||||||||||
Event Type: | international Conference | |||||||||||||||
Event Dates: | 01-05 Oct 2018 | |||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | |||||||||||||||
HGF - Program: | Space | |||||||||||||||
HGF - Program Themes: | Space System Technology | |||||||||||||||
DLR - Research area: | Raumfahrt | |||||||||||||||
DLR - Program: | R SY - Space System Technology | |||||||||||||||
DLR - Research theme (Project): | R - Vorhaben Intelligente Mobilität (old), R - On-Orbit Servicing [SY] | |||||||||||||||
Location: | Oberpfaffenhofen | |||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation | |||||||||||||||
Deposited By: | Bauer, Adrian | |||||||||||||||
Deposited On: | 29 Nov 2018 15:53 | |||||||||||||||
Last Modified: | 25 Mar 2022 11:54 |
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