A General‐purpose System for Teleoperation of the DRC‐HUBO Humanoid Robot
Abstract
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.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Feb 04, 2015
- Source ID
- 10.1002/rob.21570
Entities
People
- Aaron Bobick
- Christopher Rasmussen
- Eric Huang
- Matt Zucker
- Michael Stilman
- Michael X. Grey
- Sungmoon Joo
Organizations
- Defense Advanced Research Projects Agency
- Georgia Tech
- National Science Foundation
- Swarthmore College
- University of Delaware