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
Rubble, more, more
Push recovery during walking
Sagittal push recovery (marching in place)
Robust lateral balance (marching in place), more
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.
Humanoids 2015 Panel: Lessons Learned
Dynamic Walking July 24 2015
Talk at CMU: DRC Debrief July 9, 2015.
Powerpoint and videos 0.5GB, Almost all the videos are on this page already.
Robust dynamic walking using online foot step optimization, S Feng, X Xinjilefu, CG Atkeson, J Kim Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International, 2016.
A distributed MEMS gyro network for joint velocity estimation, Robotics and Automation (ICRA), 2016 IEEE International Conference on, 1879-1884, 2016
WPI-CMU lessons learned paper:
What Happened in the DARPA Robotics Challenge, and Why?
submitted to the DRC Finals Special Issue of the Journal of Field Robotics.
WPI-CMU DRC Finals overview paper:
NO FALLS, NO RESETS: Reliable Humanoid Behavior in the DARPA Robotics Challenge
Paper on control:
Optimization Based Controller Design and Implementation for the
Atlas Robot in the DARPA Robotics Challenge Finals
Video on control Humanoids 2015.
Paper on state estimation:
Center of Mass Estimator for Humanoids and its Application in
Modelling Error Compensation, Fall Detection and Prevention
Video on state estimation Humanoids 2015.
Paper on getting out of the car:
Full-body Motion Planning and Control for
the Car Egress Task of the DARPA Robotics Challenge
Video on getting out of the car Humanoids 2015.
Paper on doing the door task:
Human-Supervised Control of the ATLAS Humanoid Robot
for Traversing Doors
Paper on doing the drill task:
Improving Robustness in Complex Tasks for a Supervisor Operated
submitted to Humanoids 2015.
Thesis on state estimation: Xinjilefu: State Estimation for Humanoid Robots
Thesis on control: Siyuan Feng:
Online Hierarchical Optimization for Humanoid Control
Video: part 1, part 2, part 3, and part 4. The most interesting part is the question period starting in part 3 at 6:00 and continues through part 4.
Robô é chutado e se mantém de pé, sem perder o equilíbrio; veja (Globo (Brazil); in Portuguese).