Humanoid Robot Full-body Motion Planning and Control
Carnegie Mellon University, Pittsburgh, 2013-2015
Description
Developed full-body motion planning and control for the Atlas humanoid robot's car egress task in the DARPA Robotics Challenge. The team achieved zero falls and zero resets during the competition through robust whole-body control and careful system engineering. (Slides)
Publications
- Team WPI-CMU: Achieving Reliable Humanoid Behavior in the DARPA Robotics Challenge. Mathew DeDonato, Felipe Polido, Kevin Knoedler, et al. Journal of Field Robotics 34(2), 381-399
- What Happened in the DARPA Robotics Challenge, and Why? C. G. Atkeson, et al. Journal of Field Robotics
- Full-body motion planning and control for the car egress task of the DARPA Robotics Challenge. Chenggang Liu, Christopher G Atkeson, Siyuan Feng, X Xinjilefu. Humanoids 2015
- No falls, no resets: Reliable humanoid behavior in the DARPA Robotics Challenge. Christopher G Atkeson, et al. Humanoids 2015
Demos
Video demo for Humanoids 2015
Simulation result without using tools
Monte Carlo simulation for finding optimal egress strategies
Inverse-kinematics solver for interactive pose setting 1
Inverse-kinematics solver for interactive pose setting 2
Teleoperation/Monitoring UI
DRC Final garage rehearsal
Rough terrain walking
This video demonstrates how challenging it is to let a robot get out of the car by itself
Team Trooper egress planning
Team TRAC egress planning
Team Tartan egress planning
Team MIT egress planning
Team NIMBRO egress planning
Team IHMC egress planning
Team KAIST egress planning