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— We describe Team WPI-CMU's approach to the DARPA Robotics Challenge (DRC), focusing on our strategy to avoid failures that required physical human intervention. We implemented safety features in our controller to detect potential catastrophic failures, stop the current behavior, and allow remote intervention by a human supervisor. Our safety methods and(More)
— 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 unstructured environment as specified by the requirements of the DARPA Robotics Challenge. Door traversal can be broken down into(More)
In both developing and developed countries, reducing the cost of medical care is a primary goal of science and government. In this project we seek to find and extract information from a video of a human that tells us the pulse rate and the oxygen level of the blood, with the eventual aim to create a virtual pulse oximeter. Features to be extracted were(More)
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