在灾害响应任务中驾驶车辆的人形机器人的监督控制

2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2015-05-11 DOI:10.1109/TePRA.2015.7219695

K. Knoedler, Velin D. Dimitrov, Doug Conn, M. Gennert, T. Padır

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引用次数: 5

摘要

我们描述了伍斯特理工学院(WPI)机器人工程C班(WRECS)在2013年12月举行的国防高级研究计划局(DARPA)机器人挑战赛(DRC)试验中的多用途车辆驾驶任务的方法。失事车队是仅有的七支尝试驾驶任务的队伍之一，也是唯一一支使用ATLAS机器人成功驾驶全程的队伍。我们实现了一个监督控制系统，允许机器人控制车辆的速度，而操作员帮助机器人驾驶车辆。介绍了两种不同的估计速度的方法，分别使用激光雷达和立体摄像机，并讨论了机器人在试验中的表现。

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Towards supervisory control of humanoid robots for driving vehicles during disaster response missions

We describe the approach of Worcester Polytechnic Institute's (WPI) Robotics Engineering C Squad (WRECS)to the utility vehicle driving task at the Defense Advanced Research Projects Agency (DARPA) Robotics Challenge (DRC) Trials held in December 2013. WRECS was one of only seven teams to attempt the driving task, and the only team with an ATLAS robot to successfully drive the course. We implement a supervisory control system that allows the robot to control the speed of the vehicle, while the operator helps the robot steer the vehicle. Two different methods of estimating speed, using the LIDAR and stereo cameras, are presented, and the performance of the robot at the Trials is discussed.

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来源期刊

2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

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