Abstract
This paper presents the technical approaches used and experimental results obtained by Team SNU at the DARPA Robotics Challenge (DRC) Finals 2015. Team SNU is one of the newly qualified teams, unlike the 12 teams who previously participated in the December 2013 DRC Trials. The hardware platform THORMANG, which we used, has been developed by ROBOTIS. THORMANG is one of the smallest robots at the DRC Finals. Based on this platform, we focused on developing software architecture and controllers in order to perform complex tasks in disaster response situations and modifying hardware modules to maximize manipulability. Ensuring stability and modularization are two main keywords in the technical approaches of the architecture. We designed our interface and controllers to achieve a higher robustness level against disaster situations. Moreover, we concentrated on developing our software architecture by integrating a number of modules to eliminate software system complexity and programming errors. With these efforts on the hardware and software, we have successfully finished the competition without falling and ranked 12th out of 23 teams. This paper is concluded with a number of lessons learned by analyzing the DRC Finals 2015.
A version of this article was previously published in the Journal of Field Robotics, vol. 32, issue 2, pp. 359–380, © Wiley 2017.
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Notes
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DRC Finals Rule Book.
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Nexus 1.8.1 and T160 cameras.
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Unfortunately, we could not analysis time distribution of Team DRC-HUBO at UNLV, because DARPA did not provide several videos for Team DRC-HUBO at UNLV.
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Duration between time to start manipulation and time to complete the task.
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Acknowledgements
This research was supported by the MOTIE under the robot industry core technology development project (No. 10050036) supervised by the KEIT. Also, this work was partially supported by the National Research Foundation of Korea (NRF) grant funded by the MSIP (No. NRF-2015R1A2A1A10055798). We would like to thank Team ROBOTIS for providing THORMANG and technical support. We also would like to thank Jeeho Ahn and Seungyeon Kim who provided support during development and competition.
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Kim, S. et al. (2018). Team SNU’s Control Strategies to Enhancing Robot’s Capability: Lessons from the DARPA Robotics Challenge Finals 2015. In: Spenko, M., Buerger, S., Iagnemma, K. (eds) The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue. Springer Tracts in Advanced Robotics, vol 121. Springer, Cham. https://doi.org/10.1007/978-3-319-74666-1_10
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