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This paper presents a high level system architecture of the work done by Team NEDO-JSK for DRC (DARPA Robotics Challenge), which was held on 5th–6th, June, 2015, California, USA. DRC was a competition which included driving vehicle, manipulating objects and locomotion over rough terrain. Communication between robot and operators were limited in a similar way to teleoperating situation. The system...
This paper describes a practical method to construct real-time controllers to achieve locomotion and manipulation tasks with a humanoid robot. We propose a method to insert emergency stop functionality to each layer to avoid robot's falling down and joint overloads even if recognition and planning error exist. We explain implementation of multi-layered real-time controllers on HRP2 robot and application...
In recent years, humanoids have been expected to play an important part in disaster response due to safety concerns. For disaster response, humanoids should do tasks in unknown and unstructured environments possibly with limited communications. Firstly this paper presents a robot operating system in which complementary integration of autonomous and manual functions is achieved. In our system operator...
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