Systems, Software, and Simulation: Meeting the DARPA Robotics Challenge
Gennert, Michael A.
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This talk describes the WPI-CMU DRC Team entry, the hardware choices, and software architecture that enable human-in-the-loop control of a 28 degree-of-freedom Atlas humanoid robot over a limited bandwidth link. We discuss our methods, results, and lessons learned from the DRC Trials tasks, focusing on driving. We were one of only seven teams to attempt the driving task, and the only team with an Atlas robot to successfully drive the course. The effectiveness of our system architecture was demonstrated as the WPI-CMU DRC Team scored 11 out of a possible 32 points, ranked 7th at the Trials, and was selected as a finalist for the DRC Finals.
- IRIM Seminar Series