Team WPI-CMU: Achieving Reliable Humanoid Behavior in the DARPA Robotics Challenge
Team WPI-CMU: Achieving Reliable Humanoid Behavior in the DARPA Robotics Challenge
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DOI：
10.1002/rob.21685
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发表时间：
2017-03-01
影响因子：
8.3
通讯作者：
Padir, Taskin
中科院分区：
文献类型：
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作者：
DeDonato, Mathew;Polido, Felipe;Padir, Taskin
在DARPA机器人挑战赛（DRC）中，参赛的人-机器人团队被要求整合移动性、操纵、感知和操作员界面，以完成模拟灾难任务。我们使用波士顿动力公司开发的人形机器人Atlas Unplugged来描述我们的方法。我们将重点放在我们的方法、结果和从DRC决赛中学到的经验教训上，以展示我们的策略，包括广泛的操作员实践、对机器人错误的明确监控、增加额外的传感，以及使操作员能够在不同程度的抽象上控制和监控机器人。我们的安全第一策略奏效了：我们避免了坠落，远程操作人员可以安全地从困难的情况中恢复过来。我们是DRC决赛中唯一一支尝试了所有任务，得分（14/16），不需要人工干预（重置），并且在两天的测试中没有在两个任务中摔倒的球队。我们也有最稳定的两组跑动。(C) 2017 Wiley期刊公司
In the DARPA Robotics Challenge (DRC), participating human-robot teams were required to integrate mobility, manipulation, perception, and operator interfaces to complete a simulated disaster mission. We describe our approach using the humanoid robot Atlas Unplugged developed by Boston Dynamics. We focus on our approach, results, and lessons learned from the DRC Finals to demonstrate our strategy, including extensive operator practice, explicit monitoring for robot errors, adding additional sensing, and enabling the operator to control and monitor the robot at varying degrees of abstraction. Our safety-first strategy worked: we avoided falling, and remote operators could safely recover from difficult situations. We were the only team in the DRC Finals that attempted all tasks, scored points (14/16), did not require physical human intervention (a reset), and did not fall in the two missions during the two days of tests. We also had the most consistent pair of runs. (C) 2017 Wiley Periodicals, Inc.