Robot System of DRC‐HUBO+ and Control Strategy of Team KAIST in DARPA Robotics Challenge Finals

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.

[1]  Kenneth Levenberg.  A METHOD FOR THE SOLUTION OF CERTAIN NON – LINEAR PROBLEMS IN LEAST SQUARES , 1944 .

[2]  D. Marquardt.  An Algorithm for Least-Squares Estimation of Nonlinear Parameters , 1963 .

[3]  Robert C. Bolles,et al.  Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography , 1981, CACM.

[4]  Charles W. Wampler,et al.  Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods , 1986, IEEE Transactions on Systems, Man, and Cybernetics.

[5]  Yoshihiko Nakamura,et al.  Inverse kinematic solutions with singularity robustness for robot manipulator control , 1986 .

[6]  L. W. Tsai,et al.  Robot Analysis: The Mechanics of Serial and Parallel Ma-nipulators , 1999 .

[7]  Zhengyou Zhang,et al.  A Flexible New Technique for Camera Calibration , 2000, IEEE Trans. Pattern Anal. Mach. Intell..

[8]  Bernhard P. Wrobel,et al.  Multiple View Geometry in Computer Vision , 2001 .

[9]  Gordon Cheng,et al.  Supervised Autonomy: A Framework for Human-Robot Systems Development , 2001, Auton. Robots.

[10]  Jean-Yves Bouguet,et al.  Camera calibration toolbox for matlab , 2001 .

[11]  Kazuhito Yokoi,et al.  The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[12]  Jun-Ho Oh,et al.  Development of a Humanoid Biped Walking Robot Platform KHR-1 Initial Design and Its Performance Evaluation , 2002 .

[13]  Kazuhito Yokoi,et al.  Biped walking pattern generation by using preview control of zero-moment point , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[14]  Jun-Ho Oh,et al.  Development of humanoid robot platform KHR-2 (KAIST humanoid robot-2) , 2004, 4th IEEE/RAS International Conference on Humanoid Robots, 2004..

[15]  Jun-Ho Oh,et al.  Mechanical design of humanoid robot platform KHR-3 (KAIST Humanoid Robot 3: HUBO) , 2005, 5th IEEE-RAS International Conference on Humanoid Robots, 2005..

[16]  Juho Kannala,et al.  A generic camera model and calibration method for conventional, wide-angle, and fish-eye lenses , 2006, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[17]  Roland Siegwart,et al.  A Toolbox for Easily Calibrating Omnidirectional Cameras , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Olga Veksler,et al.  Graph Cuts in Vision and Graphics: Theories and Applications , 2006, Handbook of Mathematical Models in Computer Vision.

[19]  Timothy Bretl,et al.  Motion Planning for Legged Robots on Varied Terrain , 2008, Int. J. Robotics Res..

[20]  Kazuhiro Kosuge,et al.  Analytical Inverse Kinematic Computation for 7-DOF Redundant Manipulators With Joint Limits and Its Application to Redundancy Resolution , 2008, IEEE Transactions on Robotics.

[21]  Olivier Stasse,et al.  Integrating Walking and Vision to Increase Humanoid Autonomy , 2008, Int. J. Humanoid Robotics.

[22]  Jun-Ho Oh,et al.  Posture Control of a Humanoid Robot with a Compliant Ankle Joint , 2010, Int. J. Humanoid Robotics.

[23]  Jun-Ho Oh,et al.  Online Balance Controllers for a Hopping and Running Humanoid Robot , 2011, Adv. Robotics.

[24]  Neil T. Dantam,et al.  Robust and efficient communication for real-time multi-process robot software , 2012, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012).

[25]  Jun-Ho Oh,et al.  Inverse Kinematic Control of Humanoids under Joint Constraints , 2013 .

[26]  Pieter Hintjens,et al.  ZeroMQ: Messaging for Many Applications , 2013 .

[27]  Trevor Darrell,et al.  Rich Feature Hierarchies for Accurate Object Detection and Semantic Segmentation , 2013, 2014 IEEE Conference on Computer Vision and Pattern Recognition.

[28]  Jun-Ho Oh,et al.  Robotic software system for the disaster circumstances: System of team KAIST in the DARPA Robotics Challenge Finals , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

[29]  Jun-Ho Oh,et al.  A modified perturbation/correlation method for force-guided assembly , 2015 .

[30]  Kyungdon Joo,et al.  Control strategies for a humanoid robot to drive and then egress a utility vehicle for remote approach , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

[31]  In-So Kweon,et al.  AttentionNet: Aggregating Weak Directions for Accurate Object Detection , 2015, 2015 IEEE International Conference on Computer Vision (ICCV).

[32]  Jun-Ho Oh,et al.  Walking-wheeling dual mode strategy for humanoid robot, DRC-HUBO+ , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[33]  Jun-Ho Oh,et al.  Humanoid Posture Selection for Reaching Motion and a Cooperative Balancing Controller , 2016, J. Intell. Robotic Syst..

[34]  Kyungdon Joo,et al.  Vision system and depth processing for DRC-HUBO+ , 2015, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[35]  Jun-Ho Oh,et al.  Backward Ladder Climbing Locomotion of Humanoid Robot with Gain Overriding Method on Position Control , 2016, J. Field Robotics.

[36]  Jun-Ho Oh,et al.  Camera-laser fusion sensor system and environmental recognition for humanoids in disaster scenarios , 2017 .