Developing a Robust Disaster Response Robot: CHIMP and the Robotics Challenge. Issue 2 (March 2017)
- Record Type:
- Journal Article
- Title:
- Developing a Robust Disaster Response Robot: CHIMP and the Robotics Challenge. Issue 2 (March 2017)
- Main Title:
- Developing a Robust Disaster Response Robot: CHIMP and the Robotics Challenge
- Authors:
- Haynes, G. Clark
Stager, David
Stentz, Anthony
Vande Weghe, J. Michael
Zajac, Brian
Herman, Herman
Kelly, Alonzo
Meyhofer, Eric
Anderson, Dean
Bennington, Dane
Brindza, Jordan
Butterworth, David
Dellin, Chris
George, Michael
Gonzalez‐Mora, Jose
Jones, Morgan
Kini, Prathamesh
Laverne, Michel
Letwin, Nick
Perko, Eric
Pinkston, Chris
Rice, David
Scheifflee, Justin
Strabala, Kyle
Waldbaum, Mark
Warner, Randy - Other Names:
- Spenko Matthew guestEditor.
Buerger Steve guestEditor.
Iagnemma Karl guestEditor. - Abstract:
- Abstract : CHIMP, the CMU Highly Intelligent Mobile Platform, is a humanoid robot capable of executing complex tasks in dangerous, degraded, human‐engineered environments, such as those found in disaster response scenarios. CHIMP is uniquely designed for mobile manipulation in challenging environments, as the robot performs manipulation tasks using an upright posture, yet it uses more stable prostrate postures for mobility through difficult terrain. In this paper, we report on the improvements made to CHIMP—both in its mechanical design and its software systems—in preparation for the DARPA Robotics Challenge Finals in June 2015. These include details on CHIMP's novel mechanical design, actuation systems, robust construction, all‐terrain mobility, supervised autonomy approach, and unique user interfaces utilized for the challenge. Additionally, we provide an overview of CHIMP's performance, and we detail the various lessons learned over the course of the challenge. CHIMP was one of the winners of the DARPA Robotics Challenge, completing all tasks and finishing in 3rd place out of 23 teams. Notably, CHIMP was the only robot to stand back up after accidentally falling over, a testament to the robustness engineered into the robot and a remote operator's ability to execute complex tasks using a highly capable robot. We present CHIMP as a concrete engineering example of a successful disaster response robot.
- Is Part Of:
- Journal of field robotics. Volume 34:Issue 2(2017)
- Journal:
- Journal of field robotics
- Issue:
- Volume 34:Issue 2(2017)
- Issue Display:
- Volume 34, Issue 2 (2017)
- Year:
- 2017
- Volume:
- 34
- Issue:
- 2
- Issue Sort Value:
- 2017-0034-0002-0000
- Page Start:
- 281
- Page End:
- 304
- Publication Date:
- 2017-03
- Subjects:
- Robots, Industrial -- Periodicals
Automatic control -- Periodicals
629.892 - Journal URLs:
- http://onlinelibrary.wiley.com/journal/10.1002/(ISSN)1556-4967 ↗
http://onlinelibrary.wiley.com/ ↗ - DOI:
- 10.1002/rob.21696 ↗
- Languages:
- English
- ISSNs:
- 1556-4959
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - 4984.130000
British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 1470.xml