Team WPI-CMU: Darpa Robotics Challenge


DARPA Robotics Challenge Finals June 2015

The WPI-CMU robot (Warner) was the only robot that scored points (14/16 over two days), tried all tasks, and didn't fall or need physical human intervention (a reset). Our safety code was able to handle a bad step on the cinderblock rough terrain on day 1, and a wrist failure on day 2 which resulted in the robot almost pushing itself over. We had trouble with the drill on day 1 (human programming error) and due to the wrist hardware failure on day 2.

I am so happy and proud NOT to be included in this DARPA highlight video: DARPA's A Celebration of Risk (a.k.a., Robots Take a Spill)

I am also thrilled not to be included in these videos:

We are in this video, but not falling down: another somewhat funny video


WPI web page


Videos

Current work on fast walking,

Current work on robust lateral balance,

Time lapse video of DARPA Robotics Challenge Day 2.

Time lapse video of DARPA Robotics Challenge Day 1.

Time lapse video of practice for DRC Finals.

My stress relief video for the DRC Finals.

DRC Trials 2013

DRC Trials Preview 2013 Shows ladder climbing and Ironman heart.


Talks

Talk at CMU: DRC Debrief July 9, 2015. Powerpoint only
Powerpoint and videos 0.5GB, Almost all the videos are on this page already.

Dynamic Walking July 24 2015


Papers

WPI-CMU DRC Finals overview paper: NO FALLS, NO RESETS: Reliable Humanoid Behavior in the DARPA Robotics Challenge (Draft version 14) submitted to Humanoids 2015.
Comments welcome

Paper on control: Optimization Based Controller Design and Implementation for the Atlas Robot in the DARPA Robotics Challenge Finals submitted to Humanoids 2015.
Video on control submitted to Humanoids 2015.
Comments welcome

Paper on state estimation: Center of Mass Estimator for Humanoids and its Application in Modelling Error Compensation, Fall Detection and Prevention submitted to Humanoids 2015.
Comments welcome

Paper on getting out of the car: Full-body Motion Planning and Control for The Car Egress Task of the DARPA Robotics Challenge submitted to Humanoids 2015.
Video on getting out of the car submitted to Humanoids 2015.
Comments welcome

Paper on doing the door task: Human-Supervised Control of the ATLAS Humanoid Robot for Traversing Doors submitted to Humanoids 2015.
Comments welcome

Paper on doing the drill task: Improving Robustness in Complex Tasks for a Supervisor Operated Humanoid submitted to Humanoids 2015.
Comments welcome


An analysis of what happened at the DRC finals.


Coverage

Robô é chutado e se mantém de pé, sem perder o equilíbrio; veja (Globo (Brazil); in Portuguese).