1,883 research outputs found
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
- …