No falls, no resets: Reliable humanoid behavior in the DARPA robotics challenge
No falls, no resets: Reliable humanoid behavior in the DARPA robotics challenge
复制标题
无跌倒，无需重置：DARPA 机器人挑战赛中可靠的人形行为
DOI：
10.1109/humanoids.2015.7363436
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
X. Xinjilefu
中科院分区：
文献类型：
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作者：
C. Atkeson;B. W. Babu;Nandan Banerjee;D. Berenson;Christoper P. Bove;Xiongyi Cui;M. DeDonato;R. Du;S. Feng;P. Franklin;M. Gennert;J. Graff;P. He;A. Jaeger;Joohyung Kim;K. Knoedler;Lening Li;Chenggang Liu;X. Long;T. Padır;F. Polido;G. Tighe;X. Xinjilefu
我们描述了WPI-CMU团队在DARPA机器人挑战赛（DRC）中的方法，重点是我们避免需要物理人为干预的失败的策略。我们在控制器中实现了安全功能，以检测潜在的灾难性故障，停止当前行为，并允许人类主管进行远程干预。我们的安全方法和操作界面发挥了作用：我们避免了灾难，远程操作人员可以从困难的情况下安全恢复。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。本文的大部分内容讨论了从刚果民主共和国吸取的经验教训。
We describe Team WPI-CMU's approach to the DARPA Robotics Challenge (DRC), focusing on our strategy to avoid failures that required physical human intervention. We implemented safety features in our controller to detect potential catastrophic failures, stop the current behavior, and allow remote intervention by a human supervisor. Our safety methods and operator interface worked: we avoided catastrophe 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. Much of the paper discusses lessons learned from the DRC.