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dc.contributor.authorNguyen, Haien_US
dc.contributor.authorCiocarlie, Mateien_US
dc.contributor.authorHsiao, Kaijenen_US
dc.contributor.authorKemp, Charles C.en_US
dc.date.accessioned2013-12-19T15:22:28Z
dc.date.available2013-12-19T15:22:28Z
dc.date.issued2013-05
dc.identifier.citationROS Commander (ROSCo): Behavior Creation for Home Robots, Hai Nguyen, Matei Ciocarlie, Kaijen Hsiao, and Charles C. Kemp, IEEE International Conference on Robotics and Automation (ICRA), 2013, 467-474.en_US
dc.identifier.isbn978-1-4673-5641-1
dc.identifier.issn1050-4729
dc.identifier.urihttp://hdl.handle.net/1853/49852
dc.description©2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionPresented at the 2013 IEEE International Conference on Robotics and Automation (ICRA) Karlsruhe, Germany, May 6-10, 2013.en_US
dc.descriptionDOI: 10.1109/ICRA.2013.6630616en_US
dc.description.abstractWe introduce ROS Commander (ROSCo), an open source system that enables expert users to construct, share, and deploy robot behaviors for home robots. A user builds a behavior in the form of a Hierarchical Finite State Machine (HFSM) out of generic, parameterized building blocks, with a real robot in the develop and test loop. Once constructed, users save behaviors in an open format for direct use with robots, or for use as parts of new behaviors. When the system is deployed, a user can show the robot where to apply behaviors relative to fiducial markers (AR Tags), which allows the robot to quickly become operational in a new environment. We show evidence that the underlying state machine representation and current building blocks are capable of spanning a variety of desirable behaviors for home robots, such as opening a refrigerator door with two arms, flipping a light switch, unlocking a door, and handing an object to someone. Our experiments show that sensor-driven behaviors constructed with ROSCo can be executed in realistic home environments with success rates between 80% and 100%. We conclude by describing a test in the home of a person with quadriplegia, in which the person was able to automate parts of his home using previously-built Behaviors.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectRobot programmingen_US
dc.subjectROS Commanderen_US
dc.subjectROSCoen_US
dc.subjectOpen sourceen_US
dc.subjectRobot behaviorsen_US
dc.subjectHome robotsen_US
dc.titleROS Commander (ROSCo): Behavior Creation for Home Robotsen_US
dc.typeProceedingsen_US
dc.typePost-printen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Healthcare Robotics Laben_US
dc.contributor.corporatenameGeorgia Institute of Technology. Institute for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameWillow Garage, Inc.en_US
dc.publisher.originalInstitute of Electrical and Electronics Engineersen_US
dc.identifier.doi10.1109/ICRA.2013.6630616


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