Developing a Robust Disaster Response Robot: CHIMP and the Robotics Challenge
Developing a Robust Disaster Response Robot: CHIMP and the Robotics Challenge
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DOI：
10.1002/rob.21696
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发表时间：
2017-03-01
影响因子：
8.3
通讯作者：
Warner, Randy
中科院分区：
文献类型：
--
作者：
Haynes, G. Clark;Stager, David;Warner, Randy
CHIMP，CMU高度智能的移动的平台，是一个人形机器人，能够在危险的，退化的，人类工程的环境中执行复杂的任务，如那些在灾难响应场景中发现的。CHIMP是专为在具有挑战性的环境中进行移动的操作而设计的，因为机器人使用直立姿势执行操作任务，但它使用更稳定的俯卧姿势在困难的地形中移动。在本文中，我们报告了CHIMP在机械设计和软件系统方面的改进，为2015年6月的DARPA机器人挑战赛决赛做准备。其中包括CHIMP新颖的机械设计、驱动系统、坚固的结构、全地形机动性、监督自主方法以及用于挑战的独特用户界面的详细信息。此外，我们还概述了CHIMP的表现，并详细介绍了在挑战过程中学到的各种经验教训。CHIMP是DARPA机器人挑战赛的获胜者之一，完成了所有任务，并在23支队伍中获得第三名。值得注意的是，CHIMP是唯一一个在意外摔倒后站起来的机器人，这证明了机器人的鲁棒性以及远程操作员使用高性能机器人执行复杂任务的能力。我们目前CHIMP作为一个具体的工程实例，一个成功的灾难响应机器人。(C)2017 Wiley Periodicals，Inc.
CHIMP, the CMU Highly Intelligent Mobile Platform, is a humanoid robot capable of executing complex tasks in dangerous, degraded, human-engineered environments, such as those found in disaster response scenarios. CHIMP is uniquely designed for mobile manipulation in challenging environments, as the robot performs manipulation tasks using an upright posture, yet it uses more stable prostrate postures for mobility through difficult terrain. In this paper, we report on the improvements made to CHIMP-both in itsmechanical design and its software systems-in preparation for the DARPA Robotics Challenge Finals in June 2015. These include details on CHIMP's novel mechanical design, actuation systems, robust construction, all-terrain mobility, supervised autonomy approach, and unique user interfaces utilized for the challenge. Additionally, we provide an overview of CHIMP's performance, and we detail the various lessons learned over the course of the challenge. CHIMP was one of the winners of the DARPA Robotics Challenge, completing all tasks and finishing in 3rd place out of 23 teams. Notably, CHIMP was the only robot to stand back up after accidentally falling over, a testament to the robustness engineered into the robot and a remote operator's ability to execute complex tasks using a highly capable robot. We present CHIMP as a concrete engineering example of a successful disaster response robot. (C) 2017 Wiley Periodicals, Inc.