Team ViGIR

Abstract

This report documents Team ViGIR s efforts in the DARPA Robotics Challenge (DRC) between October 2012 and August 2015. Team ViGIR, a multinational collaborative research and development effort that spanned nine time zones, began as a Track B participant in the simulation-based Virtual Robotics Challenge; after placing in the top six, we began working the Atlas humanoid robotic system developed by Boston Dynamics. Team ViGIR competed in both the DRC Trials and DRC Finals. This report documents our performance, lessons learned along the way, and describes the novel contributions of our team. Specific focus areas include template-based manipulation, footstep planning, and autonomous behavior specification and execution. The software used in the competition and described in this report is being open sourced at http://github.com/team-vigir as part of our commitment to improving the capabilities of humanitarian rescue robotics.

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 2015
Accession Number
ADA623035

Entities

People

  • A. Romay
  • A. Stumpf
  • B. Waxler
  • David Conner
  • M. Schappler
  • S. Kohlbrecher
  • S. Maniatopoulos

Organizations

  • Torc Robotics

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Accuracy
  • Air Force
  • Cognitive Systems Engineering
  • Collision Avoidance
  • Computer Programming
  • Computer Programs
  • Computers
  • Data Transmission
  • Graphical User Interface
  • Human Systems Integration
  • Human-Robot Interaction
  • Lessons Learned
  • Machine Learning
  • Motion Planning
  • Operating Systems
  • User Interface
  • Virtual Reality

Readers

  • Government Contracting/Procurement.
  • Robotics and Automation.
  • Software Engineering.

Technology Areas

  • AI & ML
  • Autonomy