Paper Info
Title
Team RoboSimian: Semi-autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals.
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.
Year
DOI
Venue
2017
10.1002/rob.21676
J. Field Robotics
Field
DocType
Volume
Adaptability,Architecture,Simulation,Finite-state machine,Software,Artificial intelligence,Engineering,Robotics
Journal
34
Issue
ISSN
Citations 
2
1556-4959
4
PageRank 
References 
Authors
0.45
23
26
Name
Order
Citations
PageRank
Sisir Karumanchi1392.89
Kyle Edelberg2112.60
Ian Baldwin340.79
Jeremy Nash4122.68
Jason I. Reid540.45
Charles Bergh640.45
John Leichty7372.75
Kalind Carpenter840.45
Matthew Shekels940.45
Matthew Gildner1040.79
David Newill-Smith1140.45
Jason Carlton1240.79
John Koehler1340.79
Tatyana Dobreva1440.45
Matthew Frost1540.45
Paul Hebert16332.36
James Borders17241.76
Jeremy Ma181819.93
Bertrand Douillard1928620.50
Paul Backes2040.45
Brett Kennedy2160.89
Brian W. Satzinger22101.02
Chelsea Lau23141.77
Katie Byl2440.45
Krishna Shankar2540.45
Burdick, J.W.262988516.87