Reactive Jogger for Teleoperation and Contact Tasks. Zelenak, A., Reid, R., & Pryor, M. In Macau, China, October, 2019.
Reactive Jogger for Teleoperation and Contact Tasks [link]Paper  abstract   bibtex   
In order to rapidly deploy natural language interfaces for robotics applications, we developed the Universal Meaning Representation Format (UMRF) and TeMoto Action Engine. The proposed UMRF acts as a middle ground for combining existing and cutting edge solutions in the domains of natural language processing and grounding. The open-sourced TeMoto Action Engine offers developers We developed and released a computationally efficient jogger for mobile manipulation that is well-suited for real-world manipulation tasks. Its fast control rates (\textgreater500 Hz) and tolerance for message latency enables teleoperation, admittance control, and end effector pose regulation during base motion. The presentation covers implementation including singularity avoidance, signal filtering, reactive control, and velocity/position control modalities. It includes three use examples: cabinet opening, opening and passing through a sprung door, and contact force regulation. We also quickly present a real-world use case (emergency response in an operational mine). The jogger package is now available as a part of MoveIt.
@inproceedings{zelenak_reactive_2019,
	address = {Macau, China},
	title = {Reactive {Jogger} for {Teleoperation} and {Contact} {Tasks}},
	url = {https://roscon.ros.org/2019/},
	abstract = {In order to rapidly deploy natural language interfaces for robotics applications, we developed the Universal Meaning Representation Format (UMRF) and TeMoto Action Engine. The proposed UMRF acts as a middle ground for combining existing and cutting edge solutions in the domains of natural language processing and grounding. The open-sourced TeMoto Action Engine offers developers We developed and released a computationally efficient jogger for mobile manipulation that is well-suited for real-world manipulation tasks. Its fast control rates ({\textgreater}500 Hz) and tolerance for message latency enables teleoperation, admittance control, and end effector pose regulation during base motion. The presentation covers implementation including singularity avoidance, signal filtering, reactive control, and velocity/position control modalities. It includes three use examples: cabinet opening, opening and passing through a sprung door, and contact force regulation. We also quickly present a real-world use case (emergency response in an operational mine). The jogger package is now available as a part of MoveIt.},
	author = {Zelenak, Andy and Reid, Robert and Pryor, Mitch},
	month = oct,
	year = {2019},
}

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