Title :
Summary of Team IHMC´s virtual robotics challenge entry
Author :
Koolen, Twan ; Smith, Jesper ; Thomas, Gray ; Bertrand, Sylvain ; Carff, John ; Mertins, Nathan ; Stephen, Douglas ; Abeles, Peter ; Englsberger, Johannes ; McCrory, Stephen ; van Egmond, Jeff ; Griffioen, Maarten ; Floyd, Marshall ; Kobus, Samantha ; Man
Abstract :
This paper presents a high level overview of the work done by Team IHMC (Florida Institute for Human and Machine Cognition) to win the DARPA Virtual Robotics Challenge (VRC), held June 18-20 2013. The VRC consisted of a series of three tasks (driving a vehicle, walking over varied terrain, and manipulating a fire hose), to be completed in simulation using a model of the humanoid robot Atlas. Team IHMC was able to complete all of these challenges multiple times during the competition. The paper presents our approach, as well as a bird´s-eye view of the major software components and their integration.
Keywords :
control engineering computing; disasters; humanoid robots; manipulators; object-oriented programming; rescue robots; robot programming; Atlas humanoid robot; DARPA Virtual Robotics Challenge; Florida Institute for Human and Machine Cognition; Team IHMC; VRC; disaster response robots; fire hose manipulation; software components; terrain walking; vehicle driving; Acceleration; Joints; Laser radar; Robot sensing systems; Trajectory; Vehicles;
Conference_Titel :
Humanoid Robots (Humanoids), 2013 13th IEEE-RAS International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4799-2617-6
DOI :
10.1109/HUMANOIDS.2013.7029992
