基于仿半人马座机器人的有监督自主移动与操控救灾
Supervised Autonomous Locomotion and Manipulation for Disaster Response with a Centaur-like Robot
摘要：
移动操作任务是搜救机器人领域的关键挑战之一，要求机器人具有灵活的移动和操作能力。由于任务大多是事先未知的，因此机器人在执行任务期间必须适应各种地形和工作空间。类似半人马座的机器人Centauro有一个混合的腿轮底座和一个拟人化的上身，可以在对人类来说太危险的环境中执行复杂的任务。由于机器人具有大量的自由度，用直接遥操作方法控制机器人是具有挑战性的和令人疲惫的。监督自治方法有望提高控制的质量和速度，同时保持解决未知任务的灵活性。我们开发了一套具有不同自主水平的操作员辅助功能，以控制机器人完成具有挑战性的运动和操作任务。综合系统在灾害应对情景中进行了评估，表现出良好的性能。
英文摘要：
Mobile manipulation tasks are one of the key challenges in the field of search and rescue (SAR) robotics requiring robots with flexible locomotion and manipulation abilities. Since the tasks are mostly unknown in advance, the robot has to adapt to a wide variety of terrains and workspaces during a mission. The centaur-like robot Centauro has a hybrid legged-wheeled base and an anthropomorphic upper body to carry out complex tasks in environments too dangerous for humans. Due to its high number of degrees of freedom, controlling the robot with direct teleoperation approaches is challenging and exhausting. Supervised autonomy approaches are promising to increase quality and speed of control while keeping the flexibility to solve unknown tasks. We developed a set of operator assistance functionalities with different levels of autonomy to control the robot for challenging locomotion and manipulation tasks. The integrated system was evaluated in disaster response scenarios and showed promising performance.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
