Summary of Team IHMC's virtual robotics challenge entry

This paper presents a high level overview of the work done by Team IHMC (Florida Institute for Human and Machine Cognition) to win the DARPA Virtual Robotics Challenge (VRC), held June 18-20 2013. The VRC consisted of a series of three tasks (driving a vehicle, walking over varied terrain, and manip...

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Bibliographic Details
Published in:2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids) pp. 307 - 314
Main Authors: Koolen, Twan, Smith, Jesper, Thomas, Gray, Bertrand, Sylvain, Carff, John, Mertins, Nathan, Stephen, Douglas, Abeles, Peter, Englsberger, Johannes, McCrory, Stephen, van Egmond, Jeff, Griffioen, Maarten, Floyd, Marshall, Kobus, Samantha, Manor, Nolan, Alsheikh, Sami, Duran, Daniel, Bunch, Larry, Morphis, Eric, Colasanto, Luca, Khai-Long Ho Hoang, Layton, Brooke, Neuhaus, Peter, Johnson, Matthew, Pratt, Jerry
Format: Conference Proceeding
Language:English
Published: IEEE 01-10-2013
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Summary:This paper presents a high level overview of the work done by Team IHMC (Florida Institute for Human and Machine Cognition) to win the DARPA Virtual Robotics Challenge (VRC), held June 18-20 2013. The VRC consisted of a series of three tasks (driving a vehicle, walking over varied terrain, and manipulating a fire hose), to be completed in simulation using a model of the humanoid robot Atlas. Team IHMC was able to complete all of these challenges multiple times during the competition. The paper presents our approach, as well as a bird's-eye view of the major software components and their integration.
ISBN:1479926175
9781479926176
ISSN:2164-0572
DOI:10.1109/HUMANOIDS.2013.7029992