Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
The DARPA Robotics Challenge Finals: Results and Perspectives Read chapter Read first chapter

2018 | OriginalPaper | Chapter

Team DRC-Hubo@UNLV in 2015 DARPA Robotics Challenge Finals

Authors : Paul Oh, Kiwon Sohn, Giho Jang, Youngbum Jun, Donghyun Ahn, Juseong Shin, Baek-Kyu Cho

Published in: The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue

Publisher: Springer International Publishing

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

This chapter presents a technical overview of Team DRC-Hubo@UNLVs approach to the 2015 DARPA Robotics Challenge Finals (DRC-Finals). The Finals required a robotic platform that was robust and reliable in both hardware and software to complete tasks in 60 min under degraded communication. With this point of view, Team DRC-Hubo@UNLV integrated methods and algorithms previously verified, validated, and widely used in the robotics community. For the communication aspect, a common shared memory approach that the team adopted to enable efficient data communication under the DARPA controlled network is described. A new perception head design (optimized for the tasks of the Finals) and its data processing are then presented. In the motion planning and control aspect, various techniques, such as wheel-driven navigation, zero-moment point (ZMP)-based locomotion, and position-based manipulation and controls, are described in this chapter. By introducing strategically critical elements and key lessons learned from DRC-Trials 2013 and the testbed of Charleston, we also illustrate how DRC-Hubo has evolved successfully toward the DRC-Finals.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now
previous chapter Achieving Reliable Humanoid Robot Operations in the DARPA Robotics Challenge: Team WPI-CMU’s Approach
next chapter Team SNU’s Control Strategies to Enhancing Robot’s Capability: Lessons from the DARPA Robotics Challenge Finals 2015
Footnotes
1
All of the listed authors in this chapter contributed equally to this work. This project was supported in part by a US DARPA Award #N65236-12-1-1005 for the DARPA Robotics Challenge.
 
2
NSF PIRE (National Science Foundation Partnership for International Research and Education) Award 0730206.
 
3
Perhaps the trust and comradery has been facilitated by the fact that Hubo developer Jun Ho Oh (KAIST) and Paul Oh (Drexel, now at UNLV) are first-cousins.
 
4
NSF MRI-R2 (National Science Foundation Major Research Infrastructure) Award 0960061.
 
5
DARPA Robotics Challenge (DRC) Track A “DRC-Hubo” Award N65236-12-1-1005.
 
6
Rainbow is a KAIST Hubo Lab spin-off company that manufactures and sells Hubo robots. Much like Boston Dynamics’ support for Atlas, Rainbow supported DRC-Hubo.
 
7
Sofge E., “Robots are terrible at driving cars”, Popular Science.
 
8
Whitaker, Ian, “UNLV comes in eights in international robotics competition”, Las Vegas Sun.
 
9
High friction and low backdrivability limit mechanical performance in manipulation implemented with current control methodologies.
 
10
Whitaker, I., “UNLV comes in eighth in international robotics competition”. June 9, 2015.
 
Literature
Ahn, D., Shin, J., Jun, Y., Sohn, K., Jang, G., Oh, P., et al. (2016). Strategies for driving and egress for the vehicle of a humanoid robot in the DRC finals 2015. Institute of Control, Robotics and Systems, 22(11), 912–918.
Akachi, K., Kaneko, K., Kanehira, N., Ota, S., Miyamori, G., Hirata, M., et al. (2005). Development of humanoid robotHRP-3P. In 2005 5th IEEE-RAS International Conference on Humanoid Robots (pp. 50–55). IEEE.
Alunni, N., Bener Suay, H., Phillips-Grafflin, C., Mainprice, J., Berenson, D., Chernova, S., et al. (2014). DARPA Robotics Challenge: Towards a userguided manipulation framework for high-DOF robots. In IEEE International Conference on Robotics and Automation (ICRA) (p. 2088).
Alunni, N., Phillips-Grafftin, C., Suay, H. B., Lofaro, D., Berenson, D., Chernova, S., et al. (2013). Toward a user-guided manipulation framework for high-DOF robots with limited communication. In IEEE International Conference on Technologies for Practical Robot Applications (TePRA) (pp. 1–6).
Behnke, S., Schwarz, M., Rodehutskors, T., Droeschel, D., Schreiber, M., Topelidou-Kyniazopoulou, A., et al. (2015). Team NimbRo Rescue at DARPA Robotics Challenge Finals. In 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) (p. 554).
Buss, S. R. (2004). Introduction to inverse kinematics with Jacobian transpose, pseudoinverse and damped least squares methods. IEEE Journal of Robotics and Automation, 17(1–19), 16.
Cisneros, R., Kajita, S., Sakaguchi, T., Nakaoka, S., Morisawa, M., Kaneko, K., et al. (2015). Task-level teleoperated manipulation for the HRP-2Kai humanoid robot. In 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) (pp. 1102–1108).
Cousins, S. (2010). ROS on the PR2 [ROS topics]. IEEE Robotics and Automation Magazine, 17(3), 23–25.CrossRef
Dang, H., Jun, Y., Oh, P., & Allen, P. K. (2013). Planning complex physical tasks for disaster response with a humanoid robot. In IEEE International Conference on Technologies for Practical Robot Applications (TePRA) (pp. 1–6).
DeDonato, M., Dimitrov, V., Du, R., Giovacchini, R., Knoedler, K., Long, X., et al. (2015). Human-in-the-loop control of a humanoid robot for disaster response: A report from the DARPA Robotics Challenge Trials. Journal of Field Robotics, 32(2), 275–292.CrossRef
Ellenberg, R. W., & Oh, P. Y. (2014). Contact wrench space stability estimation for humanoid robots. In IEEE International Conference on Technologies for Practical Robot Applications (TePRA) (pp. 1–6).
Fallon, M., Kuindersma, S., Karumanchi, S., Antone, M., Schneider, T., Dai, H., et al. (2015). Anarchitecture for online affordance-based perception and whole-body planning. Journal of Field Robotics, 32(2), 229–254.CrossRef
Feng, S., Whitman, E., Xinjilefu, X., & Atkeson, C. G. (2015). Optimization-based full body control for the DARPA robotics challenge. Journal of Field Robotics, 32(2), 293–312.CrossRef
Geiger, A., Ziegles, J., & Stiller, C. (2011). StreoScan: Dense 3D reconstruction in real-time. In Intelligent Vehicles Symposium (IV).
Grey, M. X., Dantam, N., Lofaro, D. M., Bobick, A., Egerstedt, M., Oh, P., et al. (2013). Multi-process control software for HUBO2Plus robot. In IEEE International Conference on Technologies for Practical Robot Applications (TePRA) (pp. 1–6).
Hebert, P., Bajracharya, M., Ma, J., Hudson, N., Aydemir, A., Reid, J., et al. (2015). Mobile manipulation and mobility as manipulation-design and algorithms of RoboSimian. Journal of Field Robotics, 32(2), 255–274.CrossRef
Johnson, M., Shrewsbury, B., Bertrand, S., Wu, T., Duran, D., Floyd, M., et al. (2015). Team IHMC’s lessons learned fromthe DARPA robotics challenge trials. Journal of Field Robotics, 32(2), 192–208.CrossRef
Jun, Y., Ellenberg, R., & Oh, P. (2010). Realization of miniature humanoid for obstacle avoidance with real-time ZMP preview control used for full-sized humanoid. In IEEERAS International Conference on Humanoid Robots (Humanoids) (pp. 46–51). IEEE.
Jun, Y., & Oh, P. (2011). A 3-tier infrastructure: Virtual-, mini-, online-hubo stair climbing as a case study. In Proceeding Biomechanics and Robotics (p. 752). ACTA Press.
Jun, Y., Weisz, J., Rasmussen, C., Allen, P., & Oh, P. (2014). Realtime teleop with non-prehensile manipulation. In IEEE International Conference on Technologies for Practical Robot Applications (TePRA) (pp. 1–6).
Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., et al. (2003). Biped walking pattern generation by using preview control of zero-moment point. In IEEE International Conference on Robotics and Automation (ICRA) (Vol. 2, pp. 1620–1626).
Knoedler, K., Dimitrov, V., Conn, D., Gennert, M. A., & Padir, T. (2015). Towards supervisory control of humanoid robots for driving vehicles during disaster response missions. In 2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) (pp. 1–6).
McGill, S., Yi, S.-J., & Lee, D. D. (2015). Team THOR’s adaptive autonomy for disaster response humanoids. In 2015 IEEERAS 15th International Conference on Humanoid Robots (Humanoids) (pp. 453–460).
Moro, F. L., Tsagarakis, N. G., & Caldwell, D. G. (2011). A human-like walking for the COmpliant huMANoid COMAN based on CoM trajectory reconstruction from kinematic Motion Primitives. In 2011 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids) (pp. 364–370). IEEE.
Nakamura, Y., & Hanafusa, H. (1986). Inverse kinematic solutions with singularity robustness for robot manipulator control. Journal of Dynamic Systems, Measurement, and Control, 108(3), 163–171.CrossRef
O’Flaherty, R., Vieira, P., Grey, M. X., Oh, P., Bobick, A., Egerstedt, M., et al. (2013). Humanoid robot teleoperation for tasks with power tools. In IEEE International Conference on Technologies for Practical Robot Applications (TePRA) (pp. 1–6).
Park, I.-W., Kim, J.-Y., Lee, J., & Oh, J.-H. (2005). Mechanical design of humanoid robot platform KHR-3 (KAIST humanoid robot 3: HUBO). In 2005 5th IEEE-RAS International Conference on Humanoid Robots (pp. 321–326). IEEE.
Pratt, G., & Manzo, J. (2013). The DARPA Robotics Challenge [Competitions]. IEEE Robotics Automation Magazine, 20(2), 10–12.CrossRef
Rasmussen, C., Sohn, K., Wang, Q., & Oh, P. (2014a). Perception and control strategies for driving utility vehicles with a humanoid robot. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 973–980).
Rasmussen, C., Sohn, K., Yuvraj, K., & Oh, P. (2014b). Early phases of humanoid vehicle ingress using depth cameras. In IEEE International Conference on Technologies for Practical Robot Applications (TePRA) (pp. 1–6).
Rasmussen, C., Yuvraj, K., Vallett, R., Sohn, K., & Oh, P. (2014c). Towards functional labeling of utility vehicle point clouds for humanoid driving. Intelligent Service Robotics, 7(3), 133–143.CrossRef
Sakagami, Y., Watanabe, R., Aoyama, C., Matsunaga, S., Higaki, N., & Fujimura, K. (2002). The intelligent ASIMO: System overview and integration. In 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 3, pp. 2478–2483). IEEE.
Stentz, A., Herman, H., Kelly, A., Meyhofer, E., Haynes, G. C., Stager, D., et al. (2015). CHIMP, the CMU highly intelligent mobile platform. Journal of Field Robotics, 32(2), 209–228.CrossRef
Wang, H., Zheng, Y. F., Jun, Y., & Oh, P. (2014). DRC-hubowalking on rough terrains. In IEEE International Conference on Technologies for Practical Robot Applications (TePRA) (pp. 1–6).
Weinstein, A. J., & Moore, K. L. (2010). Pose estimation of Ackerman steering vehicles for outdoors autonomous navigation. In IEEE International Conference on Industrial Technology (ICIT) (pp. 579–584).
Yi, S.-J., McGill, S., Vadakedathu, L., He, Q., Ha, I., Han, J., et al. (2014). THOROP humanoid robot for DARPA Robotics Challenge Trials 2013. In 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) (pp. 359–363). IEEE.
Zhang, Y., Luo, J., Hauser, K., Ellenberg, R., Oh, P., Park, H.A., et al. (2013). Motion planning of ladder climbing for humanoid robots. In IEEE International Conference on Technologies for Practical Robot Applications (TePRA) (pp. 1–6).
Zheng, Y. F., Wang, H., Li, S., Liu, Y., Orin, D., Sohn, K., et al. (2013). Humanoid robots walking on grass, sands and rocks. In IEEE Conference on Technologies for Practical Robot Applications (TePRA) (pp. 1–6).
Zucker, M., Jun, Y., Killen, B., Kim, T.-G., & Oh, P. (2013). Continuous trajectory optimization for autonomous humanoid door opening. In IEEE International Conference on Technologies for Practical Robot Applications (TePRA) (pp. 1–5).
Metadata
Title
Team DRC-Hubo@UNLV in 2015 DARPA Robotics Challenge Finals
Authors
Paul Oh
Kiwon Sohn
Giho Jang
Youngbum Jun
Donghyun Ahn
Juseong Shin
Baek-Kyu Cho
Copyright Year
2018
Book
The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue

Print ISBN: 978-3-319-74665-4

Electronic ISBN: 978-3-319-74666-1

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-74666-1_9