THOR-OP Humanoid Robot for DARPA Robotics Challenge Trials 2013

被引：0

作者：

Yi, Seung-Joon ^{[1
]}

McGill, Stephen ^{[1
]}

Vadakedathu, Larry ^{[1
]}

He, Qin ^{[1
]}

Ha, Inyong ^{[2
]}

Hang, Jeakwon ^{[2
]}

Song, Hyunjong ^{[2
]}

Rouleau, Michael ^{[3
]}

Hong, Dennis ^{[4
]}

Lee, Daniel D. ^{[1
]}

机构：

[1] Univ Penn, Grasp Lab, Philadelphia, PA 19104 USA

[2] Robotis Co Ltd, Seoul, South Korea

[3] Virginia Tech, Blacksburg, VA 24061 USA

[4] Univ Calif Los Angeles, Los Angeles, CA 90095 USA

来源：

2014 11TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2014年

关键词：

DARPA Robotic Challenge; Humanoid Robot; Modular Actuator; Modular Software Framework;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper describes the hardware design and motion control algorithms that have been used by Team THOR in the DARPA Robotics Challenge (DRC) Trials 2013 competition. The robotic hardware we use, the THOR-OP robot, consists of standardized and general purpose actuators and structural components, which greatly reduce the build and reconfiguration time and allows for quick field repair capability. Our software framework is also composed of fully modular function modules. This modular structure helps us to keep up easily with hardware changes and to have multiple control options to suit various situations. We validated our approach at the DRC Trials where we fared well against other robots many times more expensive and acquired the finalist status.

引用

页码：359 / 363

页数：5