Team RoboSimian: Semi-autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals
- Creators
- Karumanchi, Sisir1
- Edelberg, Kyle1
- Baldwin, Ian1
- Nash, Jeremy1
- Reid, Jason1
- Bergh, Charles1
- Leichty, John1
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Carpenter, Kalind1
- Shekels, Matthew1
- Gildner, Matthew1
- Newill-Smith, David1
- Carlton, Jason1
- Koehler, John1
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Dobreva, Tatyana1
- Frost, Matthew1
- Hebert, Paul1
- Borders, James1
- Ma, Jeremy1
- Douillard, Bertrand1
- Backes, Paul1
- Kennedy, Brett1
- Satzinger, Brian2
- Lau, Chelsea2
- Byl, Katie2
- Shankar, Krishna3
- Burdick, Joel3
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.
Additional Information
© 2016 Wiley Periodicals, Inc. Issue online: 16 February 2017;Version of record online: 18 October 2016; Manuscript Accepted: 20 July 2016; Manuscript Received: 8 September 2015. Funded by: Defense Advanced Research Projects Agency. Grant Number: DARPA Robotics Challenge Track A program.Additional details
- Eprint ID
- 75688
- Resolver ID
- CaltechAUTHORS:20170404-102045441
- Defense Advanced Research Projects Agency (DARPA)
- Created
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2017-04-04Created from EPrint's datestamp field
- Updated
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2021-11-15Created from EPrint's last_modified field