Journal
JOURNAL OF FIELD ROBOTICS
Volume 32, Issue 3, Pages 336-351Publisher
WILEY
DOI: 10.1002/rob.21570
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Funding
- DARPA [N65236-12-1-1005: DARPA]
- NSF [CNS-0960061 MRI-R2]
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We present a general system with a focus on addressing three events of the 2013 DARPA Robotics Challenge (DRC) trials: debris clearing, door opening, and wall breaking. Our hardware platform is DRC-HUBO, a redesigned model of the HUBO2+ humanoid robot developed by KAIST and Rainbow, Inc. Our system allowed a trio of operators to coordinate a 32 degree-of-freedom robot on a variety of complex mobile manipulation tasks using a single, unified approach. In addition to descriptions of the hardware and software, and results as deployed on the DRC-HUBO platform, we present some qualitative analysis of lessons learned from this demanding and difficult challenge.
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