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2018 | OriginalPaper | Buchkapitel

Team SNU’s Control Strategies to Enhancing Robot’s Capability: Lessons from the DARPA Robotics Challenge Finals 2015

Autoren: Sanghyun Kim, Mingon Kim, Jimin Lee, Soonwook Hwang, Joonbo Chae, Beomyeong Park, Hyunbum Cho, Jaehoon Sim, Jaesug Jung, Hosang Lee, Seho Shin, Minsung Kim, Joonwoo Ahn, Wonje Choi, Yisoo Lee, Sumin Park, Jiyong Oh, Yongjin Lee, Sangkuk Lee, Myunggi Lee, Sangyup Yi, Kyong-Sok K. C. Chang, Nojun Kwak, Jaeheung Park

Verlag: Springer International Publishing

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

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Abstract

This paper presents the technical approaches used and experimental results obtained by Team SNU at the DARPA Robotics Challenge (DRC) Finals 2015. Team SNU is one of the newly qualified teams, unlike the 12 teams who previously participated in the December 2013 DRC Trials. The hardware platform THORMANG, which we used, has been developed by ROBOTIS. THORMANG is one of the smallest robots at the DRC Finals. Based on this platform, we focused on developing software architecture and controllers in order to perform complex tasks in disaster response situations and modifying hardware modules to maximize manipulability. Ensuring stability and modularization are two main keywords in the technical approaches of the architecture. We designed our interface and controllers to achieve a higher robustness level against disaster situations. Moreover, we concentrated on developing our software architecture by integrating a number of modules to eliminate software system complexity and programming errors. With these efforts on the hardware and software, we have successfully finished the competition without falling and ranked 12th out of 23 teams. This paper is concluded with a number of lessons learned by analyzing the DRC Finals 2015.

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http://www.thordrc.com/.

http://en.robotis.com/index/product.php?cate-code=111410.

http://www.teamhector.de/.

DRC Finals Rule Book.

http://www.intervalzero.com.

http://www.cm-labs.com/.

http://www.ros.org.

http://wiki.ros.org/rviz.

Nexus 1.8.1 and T160 cameras.

http://dyros.snu.ac.kr/drc-comp/.

Unfortunately, we could not analysis time distribution of Team DRC-HUBO at UNLV, because DARPA did not provide several videos for Team DRC-HUBO at UNLV.

Duration between time to start manipulation and time to complete the task.

http://www.cs.cmu.edu/~cga/drc/events.html.

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Titel

Team SNU’s Control Strategies to Enhancing Robot’s Capability: Lessons from the DARPA Robotics Challenge Finals 2015

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_10

Autoren:

Sanghyun Kim
Mingon Kim
Jimin Lee
Soonwook Hwang
Joonbo Chae
Beomyeong Park
Hyunbum Cho
Jaehoon Sim
Jaesug Jung
Hosang Lee
Seho Shin
Minsung Kim
Joonwoo Ahn
Wonje Choi
Yisoo Lee
Sumin Park
Jiyong Oh
Yongjin Lee
Sangkuk Lee
Myunggi Lee
Sangyup Yi
Kyong-Sok K. C. Chang
Nojun Kwak
Jaeheung Park

Verlag

Springer International Publishing

Sequenznummer