RoboFlow: A flow-based visual programming language for mobile manipulation tasks
General-purpose robots can perform a range of useful tasks in human environments; however, programming them to robustly function in all possible environments that they might encounter is unfeasible. Instead, our research aims to develop robots that can be programmed by its end-users in their context...
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| Vydáno v: | Proceedings - IEEE International Conference on Robotics and Automation s. 5537 - 5544 |
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| Jazyk: | angličtina |
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IEEE
01.05.2015
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| ISSN: | 1050-4729 |
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| Abstract | General-purpose robots can perform a range of useful tasks in human environments; however, programming them to robustly function in all possible environments that they might encounter is unfeasible. Instead, our research aims to develop robots that can be programmed by its end-users in their context of use, so that the robot needs to robustly function in only one particular environment. This requires intuitive ways in which end-users can program their robot. To that end, this paper contributes a flow-based visual programming language, called RoboFlow, that allows programming of generalizable mobile manipulation tasks. RoboFlow is designed to (i) ensure a robust low-level implementation of program procedures on a mobile manipulator, and (ii) restrict the high-level programming as much as possible to avoid user errors while enabling expressive programs that involve branching, looping, and nesting. We present an implementation of RoboFlow on a PR2 mobile manipulator and demonstrate the generalizability and error handling properties of RoboFlow programs on everyday mobile manipulation tasks in human environments. |
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| AbstractList | General-purpose robots can perform a range of useful tasks in human environments; however, programming them to robustly function in all possible environments that they might encounter is unfeasible. Instead, our research aims to develop robots that can be programmed by its end-users in their context of use, so that the robot needs to robustly function in only one particular environment. This requires intuitive ways in which end-users can program their robot. To that end, this paper contributes a flow-based visual programming language, called RoboFlow, that allows programming of generalizable mobile manipulation tasks. RoboFlow is designed to (i) ensure a robust low-level implementation of program procedures on a mobile manipulator, and (ii) restrict the high-level programming as much as possible to avoid user errors while enabling expressive programs that involve branching, looping, and nesting. We present an implementation of RoboFlow on a PR2 mobile manipulator and demonstrate the generalizability and error handling properties of RoboFlow programs on everyday mobile manipulation tasks in human environments. |
| Author | Alexandrova, Sonya Tatlock, Zachary Cakmak, Maya |
| Author_xml | – sequence: 1 givenname: Sonya surname: Alexandrova fullname: Alexandrova, Sonya organization: Comput. Sci. & Eng. Dept., Univ. of Washington, Seattle, WA, USA – sequence: 2 givenname: Zachary surname: Tatlock fullname: Tatlock, Zachary organization: Comput. Sci. & Eng. Dept., Univ. of Washington, Seattle, WA, USA – sequence: 3 givenname: Maya surname: Cakmak fullname: Cakmak, Maya organization: Comput. Sci. & Eng. Dept., Univ. of Washington, Seattle, WA, USA |
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| Snippet | General-purpose robots can perform a range of useful tasks in human environments; however, programming them to robustly function in all possible environments... |
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| SubjectTerms | Computer languages Mobile communication Navigation Programming profession Robots Visualization |
| Title | RoboFlow: A flow-based visual programming language for mobile manipulation tasks |
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