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Team IHMC's Lessons Learned from the DARPA Robotics Challenge Trials
Author(s) -
Johnson Matthew,
Shrewsbury Brandon,
Bertrand Sylvain,
Wu Tingfan,
Duran Daniel,
Floyd Marshall,
Abeles Peter,
Stephen Douglas,
Mertins Nathan,
Lesman Alex,
Carff John,
Rifenburgh William,
Kaveti Pushyami,
Straatman Wessel,
Smith Jesper,
Griffioen Maarten,
Layton Brooke,
Boer Tomas,
Koolen Twan,
Neuhaus Peter,
Pratt Jerry
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.21571
Subject(s) - robot , robotics , teamwork , artificial intelligence , humanoid robot , software , engineering , competition (biology) , human–computer interaction , computer science , engineering management , management , ecology , economics , biology , programming language
This article is a summary of the experiences of the Florida Institute for Human & Machine Cognition (IHMC) team during the DARPA Robotics Challenge (DRC) Trials. The primary goal of the DRC is to develop robots capable of assisting humans in responding to natural and manmade disasters. The robots are expected to use standard tools and equipment to accomplish the mission. The DRC Trials consisted of eight different challenges that tested robot mobility, manipulation, and control under degraded communications and time constraints. Team IHMC competed using the Atlas humanoid robot made by Boston Dynamics. We competed against 16 international teams and placed second in the competition. This article discusses the challenges we faced in transitioning from simulation to hardware. It also discusses the lessons learned both during the competition and in the months of preparation leading up to it. The lessons address the value of reliable hardware and solid software practices. They also cover effective approaches to bipedal walking and designing for human‐robot teamwork. Lastly, the lessons present a philosophical discussion about choices related to designing robotic systems.