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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 Satzinger, Brian and Reid, Jason and Bergh, Charles and Lau, Chelsea 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 Shankar, Krishna and Byl, Katie and Burdick, Joel and Backes, Paul and Kennedy, Brett (2018) Team RoboSimian: Semi-autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals. In: The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue. Springer Tracts in Advanced Robotics. No.121. Springer , Cham, Switzerland, pp. 191-235. ISBN 978-3-319-74665-4. https://resolver.caltech.edu/CaltechAUTHORS:20180508-141832802

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Abstract

This article 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 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:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1007/978-3-319-74666-1_6DOIArticle
http://resolver.caltech.edu/CaltechAUTHORS:20170404-102045441Related ItemJournal Article
Additional Information:© 2018 Springer International Publishing AG, part of Springer Nature. First Online: 10 April 2018. The research described in this publication was carried out at the Jet Propulsion Laboratory, California Institute of Technology, with funding from the DARPA Robotics Challenge Track A program through an agreement with NASA with contributions from the Army Research Lab’s RCTA program.
Funders:
Funding AgencyGrant Number
Caltech/JPLUNSPECIFIED
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
Series Name:Springer Tracts in Advanced Robotics
Issue or Number:121
Record Number:CaltechAUTHORS:20180508-141832802
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20180508-141832802
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:86288
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:08 May 2018 21:37
Last Modified:03 Oct 2019 19:41

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