论文标题
坚定：适应性操纵任务的管道
ADAMANT: A Pipeline for Adaptable Manipulation Tasks
论文作者
论文摘要
本文介绍了Apamant，这是一组软件模块，可为现有的机器人计划和控制软件框架提供掌握计划功能。我们提出的工作允许用户调整操作任务，以最少的用户输入在广泛不同的情况下使用，从而减少了操作员的认知负载。开发的工具包括（1）基于插件的组件，使得易于扩展默认功能并使用第三方Grasp库，（2）以对象为中心的方式来定义任务约束，（3）使用用户友好的RVIZ接口使用Grasp Planner Utilities和（4）使用感知知识的工具来使用感知数据来编程任务。我们在各种机器人模拟上测试了我们的框架。
This paper presents ADAMANT, a set of software modules that provides grasp planning capabilities to an existing robot planning and control software framework. Our presented work allows a user to adapt a manipulation task to be used under widely different scenarios with minimal user input, thus reducing the operator's cognitive load. The developed tools include (1) plugin-based components that make it easy to extend default capabilities and to use third-party grasp libraries, (2) An object-centric way to define task constraints, (3) A user-friendly Rviz interface to use the grasp planner utilities, and (4) Interactive tools to use perception data to program a task. We tested our framework on a wide variety of robot simulations.
