CoSTAR

Instructing collaborative robots with behavior trees and vision

Chris Paxton, Andrew Hundt, Felix Jonathan, Kelleher Guerin, Gregory Hager

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

For collaborative robots to become useful, end users who are not robotics experts must be able to instruct them to perform a variety of tasks. With this goal in mind, we developed a system for end-user creation of robust task plans with a broad range of capabilities. CoSTAR: the Collaborative System for Task Automation and Recognition is our winning entry in the 2016 KUKA Innovation Award competition at the Hannover Messe trade show, which this year focused on Flexible Manufacturing. CoSTAR is unique in how it creates natural abstractions that use perception to represent the world in a way users can both understand and utilize to author capable and robust task plans. Our Behavior Tree-based task editor integrates high-level information from known object segmentation and pose estimation with spatial reasoning and robot actions to create robust task plans. We describe the cross-platform design and implementation of this system on multiple industrial robots and evaluate its suitability for a wide variety of use cases.

Original languageEnglish (US)
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages564-571
Number of pages8
ISBN (Electronic)9781509046331
DOIs
StatePublished - Jul 21 2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: May 29 2017Jun 3 2017

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period5/29/176/3/17

Fingerprint

Robots
Industrial robots
Robotics
Automation
Innovation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Paxton, C., Hundt, A., Jonathan, F., Guerin, K., & Hager, G. (2017). CoSTAR: Instructing collaborative robots with behavior trees and vision. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 564-571). [7989070] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989070

CoSTAR : Instructing collaborative robots with behavior trees and vision. / Paxton, Chris; Hundt, Andrew; Jonathan, Felix; Guerin, Kelleher; Hager, Gregory.

ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. p. 564-571 7989070.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Paxton, C, Hundt, A, Jonathan, F, Guerin, K & Hager, G 2017, CoSTAR: Instructing collaborative robots with behavior trees and vision. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989070, Institute of Electrical and Electronics Engineers Inc., pp. 564-571, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 5/29/17. https://doi.org/10.1109/ICRA.2017.7989070
Paxton C, Hundt A, Jonathan F, Guerin K, Hager G. CoSTAR: Instructing collaborative robots with behavior trees and vision. In ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2017. p. 564-571. 7989070 https://doi.org/10.1109/ICRA.2017.7989070
Paxton, Chris ; Hundt, Andrew ; Jonathan, Felix ; Guerin, Kelleher ; Hager, Gregory. / CoSTAR : Instructing collaborative robots with behavior trees and vision. ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 564-571
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