A General‐purpose System for Teleoperation of the DRC‐HUBO Humanoid Robot
Journal Article, Journal of Field Robotics: Special Issue: DARPA Robotics Challenge (DRC), pp. 336 - 351, May, 2015
Abstract
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.
BibTeX
@article{Zucker-2015-126674,author = {Matt Zucker and Sungmoon Joo and Michael X. Grey and Christopher Rasmussen and Eric Huang and Michael Stilman and Aaron F. Bobick},
title = {A General‐purpose System for Teleoperation of the DRC‐HUBO Humanoid Robot},
journal = {Journal of Field Robotics: Special Issue: DARPA Robotics Challenge (DRC)},
year = {2015},
month = {May},
pages = {336 - 351},
}
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