In this paper we discuss Worcester Polytechnic Institute(WPI) and Carnegie Mellon University(CMU) team approach for competing on the DARPA Robotics Challenge (DRC) using the humanoid Boston Dynamics Atlas robot. An overview and analysis of the hardware and software architecture is described with emphasis on two of the challenges tasks, Wall and Drill. The realization of a double stance Inverse Kinematics(IK) full-body controller used for manipulation and its overall performance is given. Moreover, an analysis for using Dynamic Programming optimization for robotic humanoid path planning is developed.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Polido, Henrique A.

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-050114-143655

Advisor

• Padir, Taskin
• Heinricher, Arthur C.
• Gennert, Michael A.

Year

• 2014

Sponsor

• U.S. Defense Advanced Research Projects Agency.

Date created

• 2014-05-01

Resource type

• Major Qualifying Project

Major

• Interdisciplinary

Rights statement

• In Copyright