Abstract
We present a general system with a focus on addressing three events of the 2013 DARPA Robotics Challenge (DRC) trials: debris clearing, door opening, and wall breaking. Our hardware platform is DRC‐HUBO, a redesigned model of the HUBO2+ humanoid robot developed by KAIST and Rainbow, Inc. Our system allowed a trio of operators to coordinate a 32 degree‐of‐freedom robot on a variety of complex mobile manipulation tasks using a single, unified approach. In addition to descriptions of the hardware and software, and results as deployed on the DRC‐HUBO platform, we present some qualitative analysis of lessons learned from this demanding and difficult challenge.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
