Name
Title | ||
|---|---|---|
Robot System of DRC-HUBO+ and Control Strategy of Team KAIST in DARPA Robotics Challenge Finals. |
Abstract | ||
|---|---|---|
This paper summarizes how Team KAIST prepared for the DARPA Robotics Challenge (DRC) Finals, especially in terms of the robot system and control strategy. To imitate the Fukushima nuclear disaster situation, the DRC performed a total of eight tasks and degraded communication conditions. This competition demanded various robotic technologies such as manipulation, mobility, telemetry, autonomy, localization, etc. Their systematic integration and the overall system robustness were also important issues in completing the challenge. In this sense, this paper presents a hardware and software system for the DRC-HUBO+, a humanoid robot that was used for the DRC; it also presents control methods such as inverse kinematics, compliance control, a walking algorithm, and a vision algorithm, all of which were implemented to accomplish the tasks. The strategies and operations for each task are briefly explained with vision algorithms. This paper summarizes what we learned from the DRC before the conclusion. In the competition, 25 international teams participated with their various robot platforms. We competed in this challenge using the DRC-HUBO+ and won first place in the competition. |
Year | Venue | Field |
|---|---|---|
2017 | J. Field Robotics | Robotic systems,Inverse kinematics,Simulation,Software system,Robustness (computer science),Artificial intelligence,Engineering,Robot,HUBO,Robotics,Humanoid robot |
DocType | Volume | Issue |
Journal | 34 | 4 |
Citations | PageRank | References |
2 | 0.42 | 14 |
Authors | ||
22 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| jeongsoo lim | 1 | 13 | 2.01 |
| In-ho Lee | 2 | 324 | 35.54 |
| Inwook Shim | 3 | 31 | 5.02 |
| Hyobin Jung | 4 | 2 | 0.42 |
| Hyunmin Joe | 5 | 2 | 0.76 |
| Hyoin Bae | 6 | 16 | 4.40 |
| Okkee Sim | 7 | 8 | 3.31 |
| jaesung oh | 8 | 14 | 5.28 |
| Taejin Jung | 9 | 12 | 2.25 |
| Seunghak Shin | 10 | 13 | 2.07 |
| Kyungdon Joo | 11 | 45 | 9.07 |
| Mingeuk Kim | 12 | 8 | 1.21 |
| Kang-Kyu Lee | 13 | 23 | 6.26 |
| Yunsu Bok | 14 | 137 | 10.91 |
| Dong-Geol Choi | 15 | 93 | 9.71 |
| Cho Buyoun | 16 | 2 | 0.42 |
| sungwoo kim | 17 | 37 | 5.93 |
| Jungwoo Heo | 18 | 2 | 0.76 |
| Inhyeok Kim | 19 | 15 | 1.36 |
| Jungho Lee | 20 | 237 | 17.88 |
| In So Kwon | 21 | 2 | 0.42 |
| Jun Ho Oh | 22 | 9 | 1.92 |