Template-Based Manipulation in Unstructured Environments for Supervised Semi-Autonomous Humanoid Robots

Abstract—Humanoid robotic manipulation in unstructured environments is a challenging problem. Limited perception, communications and environmental constraints present chal-lenges that prevent fully autonomous or purely teleoperated robots from reliably interacting with their environment. In order to achieve higher reliability in manipulation we present an approach involving remote human supervision. Strengths from both human operator and humanoid robot are leveraged through a user interface that allows the operator to perceive the remote environment through an aggregated worldmodel based on onboard sensing, while the robot can efficiently receive per-ceptual and semantic information from the operator. A template based manipulation approach has been successfully applied to the Atlas humanoid robot; we show real world footage of the results obtained in the DARPA Robotics Challenge Trials 2013. I