Real-time teleop with non-prehensile manipulation

In this work, we present a framework for teleoperation of manipulation tasks under low bandwidth, high latency conditions. This framework allows us to combine multiple manipulation and walking strategies to quickly adapt to changing mission parameters and conditions. In particular, this framework addresses the challenges of the hose attachment task of the DARPA Robotics Challenge, which encompasses walking with drag, grasping in constrained environments, and complex, close chain manipulation.