作者
Anthony Stentz, Herman Herman, Alonzo Kelly, Eric Meyhofer, G Clark Haynes, David Stager, Brian Zajac, J Andrew Bagnell, Jordan Brindza, Christopher Dellin, Michael George, Jose Gonzalez‐Mora, Sean Hyde, Morgan Jones, Michel Laverne, Maxim Likhachev, Levi Lister, Matt Powers, Oscar Ramos, Justin Ray, David Rice, Justin Scheifflee, Raumi Sidki, Siddhartha Srinivasa, Kyle Strabala, Jean‐Philippe Tardif, Jean‐Sebastien Valois, J Michael Vande Weghe, Michael Wagner, Carl Wellington
发表日期
2015/3
期刊
Journal of Field Robotics
卷号
32
期号
2
页码范围
209-228
简介
We have developed the CHIMP (CMU Highly Intelligent Mobile Platform) robot as a platform for executing complex tasks in dangerous, degraded, human‐engineered environments. CHIMP has a near‐human form factor, work‐envelope, strength, and dexterity to work effectively in these environments. It avoids the need for complex control by maintaining static rather than dynamic stability. Utilizing various sensors embedded in the robot's head, CHIMP generates full three‐dimensional representations of its environment and transmits these models to a human operator to achieve latency‐free situational awareness. This awareness is used to visualize the robot within its environment and preview candidate free‐space motions. Operators using CHIMP are able to select between task, workspace, and joint space control modes to trade between speed and generality. Thus, they are able to perform remote tasks quickly …
学术搜索中的文章
A Stentz, H Herman, A Kelly, E Meyhofer, GC Haynes… - Journal of Field Robotics, 2015