Human‐in‐the‐loop Control of a Humanoid Robot for Disaster Response: A Report from the DARPA Robotics Challenge Trials
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- Mathew DeDonato
- Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
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- Velin Dimitrov
- Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
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- Ruixiang Du
- Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
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- Ryan Giovacchini
- Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
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- Kevin Knoedler
- Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
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- Xianchao Long
- Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
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- Felipe Polido
- Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
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- Michael A. Gennert
- Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
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- Taşkın Padır
- Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
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- Siyuan Feng
- Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh Pennsylvania 15213
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- Hirotaka Moriguchi
- Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh Pennsylvania 15213
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- Eric Whitman
- Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh Pennsylvania 15213
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- X. Xinjilefu
- Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh Pennsylvania 15213
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- Christopher G. Atkeson
- Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh Pennsylvania 15213
説明
<jats:p>The DARPA Robotics Challenge (DRC) requires teams to integrate mobility, manipulation, and perception to accomplish several disaster‐response tasks. We describe our hardware choices and software architecture, which enable human‐in‐the‐loop control of a 28 degree‐of‐freedom <jats:sc>Atlas</jats:sc> humanoid robot over a limited bandwidth link. We discuss our methods, results, and lessons learned for the DRC Trials tasks. The effectiveness of our system architecture was demonstrated as the WPI‐CMU DRC Team scored 11 out of a possible 32 points, ranked seventh (out of 16) at the DRC Trials, and was selected as a finalist for the DRC Finals.</jats:p>
収録刊行物
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- Journal of Field Robotics
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Journal of Field Robotics 32 (2), 275-292, 2015-02-13
Wiley