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首页> 外文期刊>Journal of Field Robotics >Robot System of DRC-HUBO+ and Control Strategy of Team KAIST in DARPA Robotics Challenge Finals
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Robot System of DRC-HUBO+ and Control Strategy of Team KAIST in DARPA Robotics Challenge Finals

机译：DARPA机器人挑战赛决赛中DRC-HUBO +机器人系统和KAIST团队的控制策略

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摘要

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.
机译：本文总结了KAIST团队如何为DARPA机器人挑战赛（DRC）决赛做准备，尤其是在机器人系统和控制策略方面。为了模仿福岛核灾难的局势，刚果民主共和国执行了八项任务并降低了通信条件。这项竞赛需要各种机器人技术，例如操纵，移动性，遥测，自治和本地化。它们的系统集成和整个系统的坚固性也是完成挑战的重要问题。从这个意义上讲，本文提出了一种用于DRC的人形机器人DRC-HUBO +的硬件和软件系统。它还提出了控制方法，例如逆运动学，顺应性控制，行走算法和视觉算法，所有这些方法均已完成以完成任务。视觉算法简要说明了每个任务的策略和操作。本文总结了结论之前我们从刚果民主共和国学到的东西。在比赛中，25个国际团队参加了他们的各种机器人平台。我们使用DRC-HUBO +参加了这项挑战比赛，并在比赛中获得了第一名。

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  • 来源
    《Journal of Field Robotics》 |2017年第4期|802-829|共28页
  • 作者

    Jeongsoo Lim; Inho Lee; Inwook Shim; Hyobin Jung; Hyun Min Joe; Hyoin Bae; Okkee Sim; Jaesung Oh; Taejin Jung; Seunshak Shin; Kyungdon Joo; Mingeuk Kim; Kangkyu Lee; Yunsu Bok; Dong-Geol Choi; Buyoun Cho; Sungwoo Kim; Jungwoo Heo; Inhyeok Kim; Jungho Lee; In So Kwon; Jun-Ho Oh;

  • 作者单位

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea and Researcher from RCV (Robotics and Computer Vision Laboratory), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea and Researcher from RCV (Robotics and Computer Vision Laboratory), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea and Researcher from RCV (Robotics and Computer Vision Laboratory), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea and Researcher from RCV (Robotics and Computer Vision Laboratory), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea and Researcher from RCV (Robotics and Computer Vision Laboratory), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea and Researcher from Rainbow Robotics, Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea and Researcher from Rainbow Robotics, Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea and Researcher from Rainbow Robotics, Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea and Researcher from RCV (Robotics and Computer Vision Laboratory), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

    Humanoid Robot Research Center (HuboLab), KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea;

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