iTaSC as a unified framework for task specification, control, and coordination, demonstrated on the PR2

Abstract

This paper describes the implementation of the instantaneous Task Specification using Constraints (iTaSC)-Skill on a PR2. The framework allows easy specification and code- generation for robot tasks. Its power will be demonstrated by a mobile co-manipulation task of a human and a PR2 robot. The PR2 has to follow the instructions of the human and help him carrying an object, while avoiding obstacles and unnatural poses. Although the framework and its implementation are demonstrated on a PR2, it can be used for any robotic system. The software, including the demonstration is publicly available under an open-source license.