TY - JOUR
T1 - A General-purpose System for Teleoperation of the DRC-HUBO Humanoid Robot
AU - Zucker, Matt
AU - Joo, Sungmoon
AU - Grey, Michael X.
AU - Rasmussen, Christopher
AU - Huang, Eric
AU - Stilman, Michael
AU - Bobick, Aaron
N1 - Publisher Copyright:
© 2015 Wiley Periodicals, Inc.
PY - 2015/5/1
Y1 - 2015/5/1
N2 - We present a general system with a focus on addressing three events of the 2013 DARPA Robotics Challenge (DRC) trials: debris clearing, door opening, and wall breaking. Our hardware platform is DRC-HUBO, a redesigned model of the HUBO2+ humanoid robot developed by KAIST and Rainbow, Inc. Our system allowed a trio of operators to coordinate a 32 degree-of-freedom robot on a variety of complex mobile manipulation tasks using a single, unified approach. In addition to descriptions of the hardware and software, and results as deployed on the DRC-HUBO platform, we present some qualitative analysis of lessons learned from this demanding and difficult challenge.
AB - We present a general system with a focus on addressing three events of the 2013 DARPA Robotics Challenge (DRC) trials: debris clearing, door opening, and wall breaking. Our hardware platform is DRC-HUBO, a redesigned model of the HUBO2+ humanoid robot developed by KAIST and Rainbow, Inc. Our system allowed a trio of operators to coordinate a 32 degree-of-freedom robot on a variety of complex mobile manipulation tasks using a single, unified approach. In addition to descriptions of the hardware and software, and results as deployed on the DRC-HUBO platform, we present some qualitative analysis of lessons learned from this demanding and difficult challenge.
UR - https://www.scopus.com/pages/publications/84927101685
U2 - 10.1002/rob.21570
DO - 10.1002/rob.21570
M3 - Article
AN - SCOPUS:84927101685
SN - 1556-4959
VL - 32
SP - 336
EP - 351
JO - Journal of Field Robotics
JF - Journal of Field Robotics
IS - 3
ER -