High Speed Humanoid Robot Behaviors for Urban Operation
Abstract
We propose to research, develop, and demonstrate high speed humanoid robotbehaviors for tactical urban operations alongside soldiers as a robot squad member. Equipped with the right skills, humanoid robots promise to enable revolutionary changes in urban tactics across the full spectrum of squad operations, as well as transform disaster response, functioning as human avatars while keeping personnel safe.While humanoid robot mobility has made great strides, it is still subpar compared to real humans, and requires extensive teleoperation. We will design an autonomous behavior framework, combining skills into action tasks, or ~behaviors~. Specific behaviors we will develop include identifying and opening doors, entering rooms, navigating through cluttered rooms, moving obstacles, going up stairs, and searching rooms. We will extend our humanoid mobility algorithms to achieve faster and more robust walking and disturbance recovery. Key mobility innovations include using both hands and feet to help balance, such as when opening a door or scrambling over rocks, and automaticdetection of contact conditions. Task execution speed and reliability compared tohumans, will be the main priorities and success metrics.We will focus on developing a sliding autonomy framework for both fully autonomous behaviors and human-in-the-loop behaviors, with an eye towards how each modality contributes to maximizing speed and reliability. Through the use of coactive design principles, an approach we developed at IHMC, we will maximize success by allowing operators to interact with automatic behaviors in real-time, helping the robot through scenarios where its autonomy fails. We will then retro-actively analyze limitations to performance throughout the system and determine improvements that could impact results.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jan 23, 2019
- Source ID
- N000141912023
Entities
People
- Robert G. Griffin
Organizations
- Florida Institute for Human and Machine Cognition
- Office of Naval Research
- United States Navy