Approaches to robotic teleoperation in a disaster scenario: From supervised autonomy to direct control

摘要: The ability of robotic systems to effectively address disaster scenarios that are potentially dangerous for human operators is continuing grow as a research and development field. This leverages from areas such bimanual manipulation, dexterous grasping, bipedal locomotion, computer vision, sensing, object segmentation, varying degrees autonomy, operator control/feedback. paper describes the semi-autonomous system comes aid mannequin simulating an injured victim by operating fire extinguisher, affixing cervical collar, cooperatively placing on spineboard with another robot, relocating victim. accomplishes these tasks through series control modalities range supervised autonomy full teleoperation allows model be chosen optimized specific subtask. We present description hardware platform, software architecture, human-in-the-loop vision algorithm, infrastructure use variety user input devices in combination autonomous compete several tasks. effectiveness was demonstrated both laboratory live outdoor demonstrations.