Robot System of DRC-HUBO plus and Control Strategy of Team KAIST in DARPA Robotics Challenge Finals

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This paper summarizes how Team KAIST prepared for the DARPA Robotics Challenge (DRC) Finals, especially in terms of the robot system and control strategy. To imitate the Fukushima nuclear disaster situation, the DRC performed eight tasks and degraded communication conditions. This competition demanded various robotic technologies, such as manipulation, mobility, telemetry, autonomy, and localization. Their systematic integration and the overall system robustness were also important issues in completing the challenge. In this sense, this paper presents a hardware and software system for the DRC-HUBO+, a humanoid robot that was used for the DRC; it also presents control methods, such as inverse kinematics, compliance control, a walking algorithm, and a vision algorithm, all of which were implemented to accomplish the tasks. The strategies and operations for each task are briefly explained with vision algorithms. This paper summarizes what we learned from the DRC before the conclusion. In the competition, 25 international teams participated with their various robot platforms. We competed in this challenge using the DRC-HUBO+ and won first place in the competition. (C) 2016 Wiley Periodicals, Inc.
Publisher
WILEY-BLACKWELL
Issue Date
2017-06
Language
English
Article Type
Article
Keywords

INVERSE KINEMATIC SOLUTIONS; CALIBRATION; AUTONOMY; WALKING; MOTION; JOINT; MODEL

Citation

JOURNAL OF FIELD ROBOTICS, v.34, no.4, pp.802 - 829

ISSN
1556-4959
DOI
10.1002/rob.21673
URI
http://hdl.handle.net/10203/225169
Appears in Collection
EE-Journal Papers(저널논문)ME-Journal Papers(저널논문)
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