— 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)
This paper summarizes self-reports made by many of the DARPA Robotics Challenge teams on how much autonomy was used and why errors occurred. We also include observations about commonalities and differences in robot behavior across teams, and discuss lessons learned.
— 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)