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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| Published in: | Proceedings - IEEE International Conference on Robotics and Automation pp. 5537 - 5544 |
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| Main Authors: | , , |
| Format: | Conference Proceeding |
| Language: | English |
| Published: |
IEEE
01.05.2015
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| Subjects: | |
| ISSN: | 1050-4729 |
| Online Access: | Get full text |
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| Summary: | 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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| ISSN: | 1050-4729 |
| DOI: | 10.1109/ICRA.2015.7139973 |