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
  • Velin Dimitrov
    Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
  • Ruixiang Du
    Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
  • Ryan Giovacchini
    Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
  • Kevin Knoedler
    Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
  • Xianchao Long
    Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
  • Felipe Polido
    Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
  • Michael A. Gennert
    Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
  • Taşkın Padır
    Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Road Worcester Massachusetts 01609
  • Siyuan Feng
    Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh Pennsylvania 15213
  • Hirotaka Moriguchi
    Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh Pennsylvania 15213
  • Eric Whitman
    Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh Pennsylvania 15213
  • X. Xinjilefu
    Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh Pennsylvania 15213
  • Christopher G. Atkeson
    Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh Pennsylvania 15213

Description

<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>

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