D
Daniel M. Lofaro
Researcher at United States Naval Research Laboratory
Publications - 56
Citations - 325
Daniel M. Lofaro is an academic researcher from United States Naval Research Laboratory. The author has contributed to research in topics: Humanoid robot & Robot. The author has an hindex of 8, co-authored 48 publications receiving 255 citations. Previous affiliations of Daniel M. Lofaro include Drexel University & George Mason University.
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Journal ArticleDOI
The Ach Library: A New Framework for Real-Time Communication
TL;DR: A new interprocess communication (IPC) library is presented, Ach, which addresses the need for real-time multiprocess control on three humanoid robots and reduces communication latency and guarantees access to the latest sample.
Journal ArticleDOI
Toward a user-guided manipulation framework for high-DOF robots with limited communication
Calder Phillips-Grafflin,Nicholas Alunni,Halit Bener Suay,Jim Mainprice,Daniel M. Lofaro,Dmitry Berenson,Sonia Chernova,Robert W. Lindeman,Paul Y. Oh +8 more
TL;DR: This paper presents the progress toward a user-guided manipulation framework for high degree-of-freedom robots operating in environments with limited communication and describes how the framework was ported to the Hubo2+ robot with minimal changes which demonstrates its applicability to different types of robots.
Proceedings ArticleDOI
Toward a user-guided manipulation framework for high-DOF robots with limited communication
Nicholas Alunni,Calder Phillips-Grafftin,Halit Bener Suay,Daniel M. Lofaro,Dmitry Berenson,Sonia Chernova,Robert W. Lindeman,Paul Y. Oh +7 more
TL;DR: The system proposed consists of a user-guided perception interface which assists the user to provide task level commands to the robot, planning algorithms that autonomously generate robot motion while obeying relevant constraints, and a trajectory execution and monitoring system which detects errors in execution.
Journal ArticleDOI
From Autonomy to Cooperative Traded Control of Humanoid Manipulation Tasks with Unreliable Communication
Calder Phillips-Grafflin,Halit Bener Suay,Jim Mainprice,Nicholas Alunni,Daniel M. Lofaro,Dmitry Berenson,Sonia Chernova,Robert W. Lindeman,Paul Y. Oh +8 more
TL;DR: A software framework for cooperative traded control that enables a team of operators to control a remote humanoid robot over an unreliable communication link and allows the operators to specify the manipulation task in a straightforward manner.
Proceedings ArticleDOI
Feasibility of cloud enabled humanoid robots: Development of low latency geographically adjacent real-time cloud control
TL;DR: The feasibility of such a system running in-loop on humanoids is explored and tested and with a geographically adjacent server approach it is feasible to obtain high frequency real-time control in loop with with a physical robot over the cloud.