Robot System of DRC‐HUBO+ and Control Strategy of Team KAIST in DARPA Robotics Challenge Finals. Issue 4 (29th September 2016)

• Record Type: Journal Article
• Authors: Lim, Jeongsoo; Lee, Inho; Shim, Inwook; Jung, Hyobin; Joe, Hyun Min; Bae, Hyoin; Sim, Okkee; Oh, Jaesung; Jung, Taejin; Shin, Seunghak; Joo, Kyungdon; Kim, Mingeuk; Lee, Kangkyu; Bok, Yunsu; Choi, Dong‐Geol; Cho, Buyoun; Kim, Sungwoo; Heo, Jungwoo; Kim, Inhyeok; Lee, Jungho; Kwon, In So; Oh, Jun‐Ho
• Is Part Of: Journal of field robotics. Volume 34:Issue 4(2017)
• Page Start: 802
• Page End: 829
• Publication Date: 2016-09-29
• Subjects: Robots, Industrial -- Periodicals; Automatic control -- Periodicals; 629.892
• DOI: 10.1002/rob.21673
• Languages: English
• ISSNs: 1556-4959

Abstract

Abstract : 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 eight tasks and degraded communication conditions. This competition demanded various robotic technologies, such as manipulation, mobility, telemetry, autonomy, and localization. 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.