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Inferring Semantic State Transitions During Telerobotic Manipulation

Bauer, Adrian Simon and Schmaus, Peter and Albu-Schäffer, Alin and Leidner, Daniel (2018) Inferring Semantic State Transitions During Telerobotic Manipulation. In: IEEE International Conference on Intelligent Robots and Systems, 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

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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/
Document Type:Conference or Workshop Item (Speech)
Title:Inferring Semantic State Transitions During Telerobotic Manipulation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Bauer, Adrian Simonadrian.bauer (at) dlr.dehttps://orcid.org/0000-0002-1171-4709
Schmaus, PeterPeter.Schmaus (at) dlr.dehttps://orcid.org/0000-0002-6639-0967
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.dehttps://orcid.org/0000-0002-6639-0967
Leidner, Danieldaniel.leidner (at) dlr.dehttps://orcid.org/0000-0001-5091-7122
Date:October 2018
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/IROS.2018.8594458
Page Range:pp. 5517-5524
Publisher:IEEE
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität, R - Vorhaben on Orbit Servicing
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:05 Aug 2019 09:44

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