CHIMP, the CMU Highly Intelligent Mobile Platform. Issue 2 (March 2015)

• Record Type: Journal Article
• Authors: Stentz, Anthony; Herman, Herman; Kelly, Alonzo; Meyhofer, Eric; Haynes, G. Clark; Stager, David; Zajac, Brian; Bagnell, J. Andrew; Brindza, Jordan; Dellin, Christopher; George, Michael; Gonzalez‐Mora, Jose; Hyde, Sean; Jones, Morgan; Laverne, Michel; Likhachev, Maxim; Lister, Levi; Powers, Matt; Ramos, Oscar; Ray, Justin; Rice, David; Scheifflee, Justin; Sidki, Raumi; Srinivasa, Siddhartha; Strabala, Kyle; Tardif, Jean‐Philippe; Valois, Jean‐Sebastien; Vande Weghe, J. Michael; Wagner, Michael; Wellington, Carl; Iagnemma, Karl; Overholt, Jim;
• Is Part Of: Journal of field robotics. Volume 32:Issue 2(2015)
• Page Start: 209
• Page End: 228
• Publication Date: 2015-03
• Subjects: Robots, Industrial -- Periodicals; Automatic control -- Periodicals; 629.892
• DOI: 10.1002/rob.21569
• Languages: English
• ISSNs: 1556-4959

Abstract

<abstract abstract-type="main"> <title> <x xml:space="preserve">Abstract</x> </title> <p>We have developed the CHIMP (CMU Highly Intelligent Mobile Platform) robot as a platform for executing complex tasks in dangerous, degraded, human‐engineered environments. CHIMP has a near‐human form factor, work‐envelope, strength, and dexterity to work effectively in these environments. It avoids the need for complex control by maintaining static rather than dynamic stability. Utilizing various sensors embedded in the robot's head, CHIMP generates full three‐dimensional representations of its environment and transmits these models to a human operator to achieve latency‐free situational awareness. This awareness is used to visualize the robot within its environment and preview candidate free‐space motions. Operators using CHIMP are able to select between task, workspace, and joint space control modes to trade between speed and generality. Thus, they are able to perform remote tasks quickly, confidently, and reliably, due to the overall design of the robot and software. CHIMP's hardware was designed, built, and tested over 15 months leading up to the DARPA Robotics Challenge. The software was developed in parallel using surrogate hardware and simulation tools. Over a six‐week span prior to the DRC Trials, the software was ported to the robot, the system was debugged, and the tasks were practiced continuously. Given the aggressive schedule leading to the DRC Trials, development of CHIMP focused primarily on manipulation tasks. Nonetheless, our team finished 3<sup>rd</sup> out of 16. With an upcoming year to develop new software for CHIMP, we look forward to improving the robot's capability and increasing its speed to compete in the DRC Finals.</p> </abstract>