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Developing a Robust Disaster Response Robot: CHIMP and the Robotics Challenge
Author(s) -
Haynes G. Clark,
Stager David,
Stentz Anthony,
Vande Weghe J. Michael,
Zajac Brian,
Herman Herman,
Kelly Alonzo,
Meyhofer Eric,
Anderson Dean,
Bennington Dane,
Brindza Jordan,
Butterworth David,
Dellin Chris,
George Michael,
GonzalezMora Jose,
Jones Morgan,
Kini Prathamesh,
Laverne Michel,
Letwin Nick,
Perko Eric,
Pinkston Chris,
Rice David,
Scheifflee Justin,
Strabala Kyle,
Waldbaum Mark,
Warner Randy
Publication year - 2017
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.21696
Subject(s) - robot , robotics , artificial intelligence , robustness (evolution) , mobile robot , human–computer interaction , robot locomotion , computer science , terrain , disaster response , simulation , engineering , robot control , ecology , biochemistry , chemistry , emergency management , biology , political science , law , gene
CHIMP, the CMU Highly Intelligent Mobile Platform, is a humanoid robot capable of executing complex tasks in dangerous, degraded, human‐engineered environments, such as those found in disaster response scenarios. CHIMP is uniquely designed for mobile manipulation in challenging environments, as the robot performs manipulation tasks using an upright posture, yet it uses more stable prostrate postures for mobility through difficult terrain. In this paper, we report on the improvements made to CHIMP—both in its mechanical design and its software systems—in preparation for the DARPA Robotics Challenge Finals in June 2015. These include details on CHIMP's novel mechanical design, actuation systems, robust construction, all‐terrain mobility, supervised autonomy approach, and unique user interfaces utilized for the challenge. Additionally, we provide an overview of CHIMP's performance, and we detail the various lessons learned over the course of the challenge. CHIMP was one of the winners of the DARPA Robotics Challenge, completing all tasks and finishing in 3rd place out of 23 teams. Notably, CHIMP was the only robot to stand back up after accidentally falling over, a testament to the robustness engineered into the robot and a remote operator's ability to execute complex tasks using a highly capable robot. We present CHIMP as a concrete engineering example of a successful disaster response robot.