Accession Number : ADA623035

Title :   Team ViGIR

Descriptive Note : Final rept. Oct 2012-Aug 2015

Corporate Author : TORC ROBOTICS LLC BLACKSBURG VA

Personal Author(s) : Conner, David ; Kohlbrecher, S ; Romay, A ; Stumpf, A ; Maniatopoulos, S ; Schappler, M ; Waxler, B

PDF Url : ADA623035

Report Date : Oct 2015

Pagination or Media Count : 238

Abstract : This report documents Team ViGIR s efforts in the DARPA Robotics Challenge (DRC) between October 2012 and August 2015. Team ViGIR, a multinational collaborative research and development effort that spanned nine time zones, began as a Track B participant in the simulation-based Virtual Robotics Challenge; after placing in the top six, we began working the Atlas humanoid robotic system developed by Boston Dynamics. Team ViGIR competed in both the DRC Trials and DRC Finals. This report documents our performance, lessons learned along the way, and describes the novel contributions of our team. Specific focus areas include template-based manipulation, footstep planning, and autonomous behavior specification and execution. The software used in the competition and described in this report is being open sourced at http://github.com/team-vigir as part of our commitment to improving the capabilities of humanitarian rescue robotics.

Descriptors :   *ROBOTICS, AUTONOMOUS NAVIGATION, BEHAVIOR, INTERFACES, LESSONS LEARNED, MOBILITY, PERFORMANCE(ENGINEERING), PLANNING, TEAMS(PERSONNEL)

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE