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A General‐purpose System for Teleoperation of the DRC‐HUBO Humanoid Robot
Author(s) -
Zucker Matt,
Joo Sungmoon,
Grey Michael X.,
Rasmussen Christopher,
Huang Eric,
Stilman Michael,
Bobick Aaron
Publication year - 2015
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.21570
Subject(s) - humanoid robot , teleoperation , robotics , robot , artificial intelligence , focus (optics) , software , computer science , engineering , computer vision , simulation , human–computer interaction , operating system , physics , optics
We present a general system with a focus on addressing three events of the 2013 DARPA Robotics Challenge (DRC) trials: debris clearing, door opening, and wall breaking. Our hardware platform is DRC‐HUBO, a redesigned model of the HUBO2+ humanoid robot developed by KAIST and Rainbow, Inc. Our system allowed a trio of operators to coordinate a 32 degree‐of‐freedom robot on a variety of complex mobile manipulation tasks using a single, unified approach. In addition to descriptions of the hardware and software, and results as deployed on the DRC‐HUBO platform, we present some qualitative analysis of lessons learned from this demanding and difficult challenge.