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This paper introduces an anytime synthesized motion planning algorithm for humanoid robots unifying locomotion and manipulation planning. It generates an entire set of motions to finish specific tasks in an environment containing obstacles by exploiting a powerful inverse kinematics (IK) engine. The IK engine can compute solutions allowing the robot to reposition its feet for meeting the task requirements...
In the DARPA Robotics Challenge (DRC), participating human‐robot teams were required to integrate mobility, manipulation, perception, and operator interfaces to complete a simulated disaster mission. We describe our approach using the humanoid robot Atlas Unplugged developed by Boston Dynamics. We focus on our approach, results, and lessons learned from the DRC Finals to demonstrate our strategy,...
Two major questions humanoid robots need to solve for manipulation tasks are whether they need to take steps and where to take steps to. In this paper, we introduce the formulation of a powerful inverse kinematics (IK) engine which can help to answer these questions. In the engine, the IK problem is formulated as an optimization problem. After configuring appropriate costs and constraints, the IK...
Currently, the optimization-based methods are widely adopted on humanoid robots and other bipedal robots. However, using these methods to plan robot motions suffers from getting stuck in infeasible solution given bad initial guesses. Conversely, sampling-based methods which are probabilistically complete perform well in practice. But trajectories generated by these methods require smoothing techniques,...
Motions of a robot interacting with its environment can be described by a set of constraints. This paper introduces an approach, called motion template, which can quickly program and compose the constraints for the motion planner to generate the trajectory. Two types of motion templates, grasp and turn, are specifically described to explain the details of the technique. The reusability and shareability...
Door traversal is generally a trivial task for human beings but particularly challenging for humanoid robots. This paper describes a holistic approach for a full-sized humanoid robot to traverse through a door in an outdoor semi-structured environment as specified by the requirements of the DARPA Robotics Challenge. Door traversal can be broken down into four sub-tasks; door detection, walk to the...
The DARPA Robotics Challenge (DRC) requires teams to integrate mobility, manipulation, and perception to accomplish several disaster‐response tasks. We describe our hardware choices and software architecture, which enable human‐in‐the‐loop control of a 28 degree‐of‐freedom Atlas humanoid robot over a limited bandwidth link. We discuss our methods, results, and lessons learned for the DRC Trials tasks...
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