CaltechAUTHORS
Published April 10, 2018 | Version public
Book Section - Chapter Metadata-only

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

Creators

  • 1. ROR icon Jet Propulsion Lab
  • 2. ROR icon University of California, Santa Barbara
  • 3. ROR icon California Institute of Technology

Contributors

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.

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.

Additional details

Identifiers

Eprint ID
86288
DOI
10.1007/978-3-319-74666-1_6
Resolver ID
CaltechAUTHORS:20180508-141832802

Related works

Describes
10.1007/978-3-319-74666-1_6 (DOI)
http://resolver.caltech.edu/CaltechAUTHORS:20170404-102045441 (URL)

Funding

Caltech/JPL
Defense Advanced Research Projects Agency (DARPA)

Dates

Created
2018-05-08
Created from EPrint's datestamp field
Updated
2021-11-15
Created from EPrint's last_modified field

Caltech Custom Metadata

Series Name
Springer Tracts in Advanced Robotics
Series Volume or Issue Number
121