Supervised Autonomous Locomotion and Manipulation for Disaster Response with a Centaur-like Robot

Mobile manipulation tasks are one of the key challenges in the field of search and rescue (SAR) robotics requiring robots with flexible locomotion and manipulation abilities. Since the tasks are mostly unknown in advance, the robot has to adapt to a wide variety of terrains and workspaces during a mission. The centaur-like robot Centauro has a hybrid legged-wheeled base and an anthropomorphic upper body to carry out complex tasks in environments too dangerous for humans. Due to its high number of degrees of freedom, controlling the robot with direct teleoperation approaches is challenging and exhausting. Supervised autonomy approaches are promising to increase quality and speed of control while keeping the flexibility to solve unknown tasks. We developed a set of operator assistance functionalities with different levels of autonomy to control the robot for challenging locomotion and manipulation tasks. The integrated system was evaluated in disaster response scenarios and showed promising performance.Comment: In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 201

TALUS: Reinforcing TEE Confidentiality with Cryptographic Coprocessors (Technical Report)

Platforms are nowadays typically equipped with tristed execution environments (TEES), such as Intel SGX and ARM TrustZone. However, recent microarchitectural attacks on TEEs repeatedly broke their confidentiality guarantees, including the leakage of long-term cryptographic secrets. These systems are typically also equipped with a cryptographic coprocessor, such as a TPM or Google Titan. These coprocessors offer a unique set of security features focused on safeguarding cryptographic secrets. Still, despite their simultaneous availability, the integration between these technologies is practically nonexistent, which prevents them from benefitting from each other's strengths. In this paper, we propose TALUS, a general design and a set of three main requirements for a secure symbiosis between TEEs and cryptographic coprocessors. We implement a proof-of-concept of TALUS based on Intel SGX and a hardware TPM. We show that with TALUS, the long-term secrets used in the SGX life cycle can be moved to the TPM. We demonstrate that our design is robust even in the presence of transient execution attacks, preventing an entire class of attacks due to the reduced attack surface on the shared hardware.Comment: In proceedings of Financial Cryptography 2023. This is the technical report of the published pape

Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing

Robotic picking from cluttered bins is a demanding task, for which Amazon Robotics holds challenges. The 2017 Amazon Robotics Challenge (ARC) required stowing items into a storage system, picking specific items, and packing them into boxes. In this paper, we describe the entry of team NimbRo Picking. Our deep object perception pipeline can be quickly and efficiently adapted to new items using a custom turntable capture system and transfer learning. It produces high-quality item segments, on which grasp poses are found. A planning component coordinates manipulation actions between two robot arms, minimizing execution time. The system has been demonstrated successfully at ARC, where our team reached second places in both the picking task and the final stow-and-pick task. We also evaluate individual components.Comment: In: Proceedings of the International Conference on Robotics and Automation (ICRA) 201