Humanoid robots have the potential to replace human beings for dangerous tasks, such as disaster relief. One of the most important abilities for a humanoid robot is the ability to manipulate its surroundings. We developed human-in-the-loop techniques for the Atlas platform to compete in the DARPA Robotics Challenge. Many of the tasks in the event required actuation of the environment, such as turning a valve, pulling a lever, and opening a door. This paper will detail our work on manipulation for humanoid robots. In particular, we will discuss our approaches to effective operator interface design, manipulation techniques and motion planning.

• 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

• Franklin, Perry Carl

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042816-101737

Advisor

• Padir, Taskin

Year

• 2016

Date created

• 2016-04-28

Resource type

• Major Qualifying Project

Major

• Robotics Engineering

Rights statement

• In Copyright