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2018 | OriginalPaper | Buchkapitel

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

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

Verlag: Springer International Publishing

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

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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.

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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.

NSF PIRE (National Science Foundation Partnership for International Research and Education) Award 0730206.

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.

NSF MRI-R2 (National Science Foundation Major Research Infrastructure) Award 0960061.

DARPA Robotics Challenge (DRC) Track A “DRC-Hubo” Award N65236-12-1-1005.

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Titel

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

Buch

The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue

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

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

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

DOI

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

Autoren:

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

Verlag

Springer International Publishing

Sequenznummer