Technical Overview of Team DRC-Hubo@UNLV's Approach to the 2015 DARPA Robotics Challenge Finals
Document Type
Article
Publication Date
1-1-2017
Publication Title
Journal of Field Robotics
Volume
34
Issue
5
First page number:
874
Last page number:
896
Abstract
This paper presents a technical overview of Team DRC-Hubo@UNLV's approach to the 2015 DARPA Robotics Challenge Finals (DRC-Finals). The Finals required a robotic platform that was robust and reliable in both hardware and software to complete tasks in 60 min under degraded communication. With this point of view, Team DRC-Hubo@UNLV integrated methods and algorithms previously verified, validated, and widely used in the robotics community. For the communication aspect, a common shared memory approach that the team adopted to enable efficient data communication under the DARPA controlled network is described. A new perception head design (optimized for the tasks of the Finals) and its data processing are then presented. In the motion planning and control aspect, various techniques, such as wheel-driven navigation, zero-moment-point (ZMP) -based locomotion, and position-based manipulation and controls, are described in this paper. By introducing strategically critical elements and key lessons learned from DRC-Trials 2013 and the testbed of Charleston, we also illustrate how DRC-Hubo has evolved successfully toward the DRC-Finals. © 2017 Wiley Periodicals, Inc.
File Format
File Size
2700 kb
Language
english
Repository Citation
Oh, P.,
Sohn, K.,
Jang, G.,
Jun, Y.,
Cho, B. K.
(2017).
Technical Overview of Team DRC-Hubo@UNLV's Approach to the 2015 DARPA Robotics Challenge Finals.
Journal of Field Robotics, 34(5),
874-896.
http://dx.doi.org/10.1002/rob.21686
