Development of Tele-Operated Quadrupedal Robotic Platform for Disaster Response

Abstract

The RPC was implemented successfully on the MIT Cheetah 3 robot platform. The optimization is solved using the freely available IPOPT NLP solver [18] interfaced in C . It runs on a separate thread, but on the same ADL embedded Quad core PC with a 2nd Gen Core i7 CPU as the main control loop as described in [4]. As mentioned throughout the report, the RPC runs asynchronously to the main control loop. Therefore while the control loop runs at a fixed 1kHz, the RPC solution time varies based on computing power available.

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Document Details

Document Type
Technical Report
Publication Date
Dec 12, 2023
Accession Number
AD1226731

Entities

People

  • Sangbae Kim

Organizations

  • Massachusetts Institute of Technology

Tags

Readers

  • Emergency Management and Homeland Security.
  • Operations Research
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control