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Team RoboSimian: Semi-autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals

Karumanchi, Sisir and Edelberg, Kyle and Baldwin, Ian and Nash, Jeremy and Reid, Jason and Bergh, Charles and Leichty, John and Carpenter, Kalind and Shekels, Matthew and Gildner, Matthew and Newill-Smith, David and Carlton, Jason and Koehler, John and Dobreva, Tatyana and Frost, Matthew and Hebert, Paul and Borders, James and Ma, Jeremy and Douillard, Bertrand and Backes, Paul and Kennedy, Brett and Satzinger, Brian and Lau, Chelsea and Byl, Katie and Shankar, Krishna and Burdick, Joel (2017) Team RoboSimian: Semi-autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals. Journal of Field Robotics, 34 (2). pp. 305-332. ISSN 1556-4959. http://resolver.caltech.edu/CaltechAUTHORS:20170404-102045441

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Abstract

This paper discusses hardware and software improvements to the RoboSimian system leading up to and during the 2015 DARPA Robotics Challenge (DRC) Finals. Team RoboSimian achieved a 5th place finish by achieving 7 points in 47:59 min. We present an architecture that was structured to be adaptable at the lowest level and repeatable at the highest level. The low-level adaptability was achieved by leveraging tactile measurements from force torque sensors in the wrist coupled with whole-body motion primitives. We use the term “behaviors” to conceptualize this low-level adaptability. Each behavior is a contact-triggered state machine that enables execution of short-order manipulation and mobility tasks autonomously. At a high level, we focused on a teach-and-repeat style of development by storing executed behaviors and navigation poses in an object/task frame for recall later. This enabled us to perform tasks with high repeatability on competition day while being robust to task differences from practice to execution.


Item Type:Article
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1002/rob.21676DOIArticle
http://resolver.caltech.edu/CaltechAUTHORS:20180508-141832802Related ItemBook Chapter
Additional Information:© 2016 Wiley Periodicals, Inc. Issue online: 16 February 2017;Version of record online: 18 October 2016; Manuscript Accepted: 20 July 2016; Manuscript Received: 8 September 2015. Funded by: Defense Advanced Research Projects Agency. Grant Number: DARPA Robotics Challenge Track A program.
Funders:
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
Record Number:CaltechAUTHORS:20170404-102045441
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20170404-102045441
Official Citation:Karumanchi, S., Edelberg, K., Baldwin, I., Nash, J., Reid, J., Bergh, C., Leichty, J., Carpenter, K., Shekels, M., Gildner, M., Newill-Smith, D., Carlton, J., Koehler, J., Dobreva, T., Frost, M., Hebert, P., Borders, J., Ma, J., Douillard, B., Backes, P., Kennedy, B., Satzinger, B., Lau, C., Byl, K., Shankar, K. and Burdick, J. (2017), Team RoboSimian: Semi-autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals. J. Field Robotics, 34: 305–332. doi:10.1002/rob.21676
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:75688
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:04 Apr 2017 18:56
Last Modified:08 May 2018 21:37

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