TY - CHAP
T1 - Robot system of DRC-HUBO+ and control strategy of team KAIST in DARPA robotics challenge finals
AU - Lim, Jeongsoo
AU - Bae, Hyoin
AU - Oh, Jaesung
AU - Lee, Inho
AU - Shim, Inwook
AU - Jung, Hyobin
AU - Joe, Hyun Min
AU - Sim, Okkee
AU - Jung, Taejin
AU - Shin, Seunghak
AU - Joo, Kyungdon
AU - Kim, Mingeuk
AU - Lee, Kangkyu
AU - Bok, Yunsu
AU - Choi, Dong Geol
AU - Cho, Buyoun
AU - Kim, Sungwoo
AU - Heo, Jungwoo
AU - Kim, Inhyeok
AU - Lee, Jungho
AU - Kwon, In So
AU - Oh, Jun Ho
N1 - Publisher Copyright:
© Springer International Publishing AG, part of Springer Nature 2018.
PY - 2018
Y1 - 2018
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/85045412388
U2 - 10.1007/978-3-319-74666-1_2
DO - 10.1007/978-3-319-74666-1_2
M3 - Chapter
AN - SCOPUS:85045412388
T3 - Springer Tracts in Advanced Robotics
SP - 27
EP - 69
BT - Springer Tracts in Advanced Robotics
PB - Springer Verlag
ER -