Team IHMC's Lessons Learned from the DARPA Robotics Challenge Trials
Abstract
This article is a summary of the experiences of the Florida Institute for Human & Machine Cognition (IHMC) team during the DARPA Robotics Challenge (DRC) Trials. The primary goal of the DRC is to develop robots capable of assisting humans in responding to natural and manmade disasters. The robots are expected to use standard tools and equipment to accomplish the mission. The DRC Trials consisted of eight different challenges that tested robot mobility, manipulation, and control under degraded communications and time constraints. Team IHMC competed using the Atlas humanoid robot made by Boston Dynamics. We competed against 16 international teams and placed second in the competition. This article discusses the challenges we faced in transitioning from simulation to hardware. It also discusses the lessons learned both during the competition and in the months of preparation leading up to it. The lessons address the value of reliable hardware and solid software practices. They also cover effective approaches to bipedal walking and designing for humanârobot teamwork. Lastly, the lessons present a philosophical discussion about choices related to designing robotic systems.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Feb 13, 2015
- Source ID
- 10.1002/rob.21571
Entities
People
- Alex Lesman
- Brandon Shrewsbury
- Brooke Layton
- Daniel Duran
- Douglas Stephen
- Jerry Pratt
- Jesper Smith
- John Carff
- Maarten Griffioen
- Marshall Floyd
- Matthew S. Johnson
- Nathan Mertins
- Peter Abeles
- Peter Neuhaus
- Pushyami Kaveti
- Sylvain Bertrand
- Tingfan Wu
- Tomas De Boer
- Twan Koolen
- Wessel Straatman
- William Rifenburgh
Organizations
- Defense Advanced Research Projects Agency
- Florida Institute for Human and Machine Cognition