Ground Vehicle Driving by Full Sized Humanoid
This paper presents a technical overview of the Team DRC-Hubo@UNLV’s approach to the driving task in DARPA Robotics Challenge Finals (DRC-Finals). First, hardware updates in the main body and the perception head of the contestant robot, DRC-Hubo+, were presented by comparison with the previous platf...
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| Veröffentlicht in: | Journal of intelligent & robotic systems 2020-08, Vol.99 (2), p.407-425 |
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| creator | Sohn, Kiwon Jang, Giho |
| description | This paper presents a technical overview of the Team DRC-Hubo@UNLV’s approach to the driving task in DARPA Robotics Challenge Finals (DRC-Finals). First, hardware updates in the main body and the perception head of the contestant robot, DRC-Hubo+, were presented by comparison with the previous platform (DRC-Hubo in DRC-Trials). Then, the control system which enabled the full-sized humanoid to drive the off-the-shelf utility vehicle in the competition was provided. For this, the sensor data fusion process and the advanced driving assistant techniques were emphasized. Next, the driving pattern analysis of other type operators (such as human-drivers or pure tele-operation systems) was provided to demonstrate the performance of the developed system. Lastly, test and evaluation of the built robot and control system was provided via experimentation which DRC-Hubo+ drove the vehicle in a real-world setting. The presented approach was also verified in DRC-Finals as the author’s team was placed in the top record at the driving task in the competition. |
| doi_str_mv | 10.1007/s10846-019-01130-x |
| format | Article |
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The presented approach was also verified in DRC-Finals as the author’s team was placed in the top record at the driving task in the competition.</description><identifier>ISSN: 0921-0296</identifier><identifier>EISSN: 1573-0409</identifier><identifier>DOI: 10.1007/s10846-019-01130-x</identifier><language>eng</language><publisher>Dordrecht: Springer Netherlands</publisher><subject>Artificial Intelligence ; Competition ; Control ; Control systems ; Data integration ; Electrical Engineering ; Engineering ; Experimentation ; Humanoid ; Mechanical Engineering ; Mechatronics ; Multisensor fusion ; Pattern analysis ; Robot control ; Robotics ; Robotics industry ; Robots ; Sensors ; Teleoperators ; Upgrading</subject><ispartof>Journal of intelligent & robotic systems, 2020-08, Vol.99 (2), p.407-425</ispartof><rights>Springer Nature B.V. 2019</rights><rights>COPYRIGHT 2020 Springer</rights><rights>Springer Nature B.V. 2019.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c358t-ee028bd3207ac578fad123458f40c0b18d7ea2914657801338c8f6d58ad1ce793</citedby><cites>FETCH-LOGICAL-c358t-ee028bd3207ac578fad123458f40c0b18d7ea2914657801338c8f6d58ad1ce793</cites><orcidid>0000-0002-0924-4242</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/s10846-019-01130-x$$EPDF$$P50$$Gspringer$$H</linktopdf><linktohtml>$$Uhttps://link.springer.com/10.1007/s10846-019-01130-x$$EHTML$$P50$$Gspringer$$H</linktohtml><link.rule.ids>314,776,780,27903,27904,41467,42536,51298</link.rule.ids></links><search><creatorcontrib>Sohn, Kiwon</creatorcontrib><creatorcontrib>Jang, Giho</creatorcontrib><title>Ground Vehicle Driving by Full Sized Humanoid</title><title>Journal of intelligent & robotic systems</title><addtitle>J Intell Robot Syst</addtitle><description>This paper presents a technical overview of the Team DRC-Hubo@UNLV’s approach to the driving task in DARPA Robotics Challenge Finals (DRC-Finals). First, hardware updates in the main body and the perception head of the contestant robot, DRC-Hubo+, were presented by comparison with the previous platform (DRC-Hubo in DRC-Trials). Then, the control system which enabled the full-sized humanoid to drive the off-the-shelf utility vehicle in the competition was provided. For this, the sensor data fusion process and the advanced driving assistant techniques were emphasized. Next, the driving pattern analysis of other type operators (such as human-drivers or pure tele-operation systems) was provided to demonstrate the performance of the developed system. Lastly, test and evaluation of the built robot and control system was provided via experimentation which DRC-Hubo+ drove the vehicle in a real-world setting. The presented approach was also verified in DRC-Finals as the author’s team was placed in the top record at the driving task in the competition.</description><subject>Artificial Intelligence</subject><subject>Competition</subject><subject>Control</subject><subject>Control systems</subject><subject>Data integration</subject><subject>Electrical Engineering</subject><subject>Engineering</subject><subject>Experimentation</subject><subject>Humanoid</subject><subject>Mechanical Engineering</subject><subject>Mechatronics</subject><subject>Multisensor fusion</subject><subject>Pattern analysis</subject><subject>Robot control</subject><subject>Robotics</subject><subject>Robotics industry</subject><subject>Robots</subject><subject>Sensors</subject><subject>Teleoperators</subject><subject>Upgrading</subject><issn>0921-0296</issn><issn>1573-0409</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2020</creationdate><recordtype>article</recordtype><sourceid>ABUWG</sourceid><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><sourceid>GNUQQ</sourceid><recordid>eNp9kE1LAzEQhoMoWKt_wNOC59RJsrtJjqXaVih48OMa0iRbU7a7NelK219v6greZBgGZt5nZngRuiUwIgD8PhIQeYmByJSEAd6foQEpOMOQgzxHA5CUYKCyvERXMa4BQIpCDhCehbZrbPbuPrypXfYQ_JdvVtnykE27us5e_NHZbN5tdNN6e40uKl1Hd_Nbh-ht-vg6mePF8-xpMl5gwwqxw84BFUvLKHBtCi4qbQlleSGqHAwsibDcaSpJXqYhEMaEEVVpC5F0xnHJhuiu37sN7Wfn4k6t2y406aSiOWWyBJ6oIRr1qpWunfJN1e6CNims23jTNq7yqT_mNCdFKeRpLe0BE9oYg6vUNviNDgdFQJ18VL2PKvmofnxU-wSxHopJ3Kxc-PvlH-obDX5zbA</recordid><startdate>20200801</startdate><enddate>20200801</enddate><creator>Sohn, Kiwon</creator><creator>Jang, Giho</creator><general>Springer Netherlands</general><general>Springer</general><general>Springer Nature B.V</general><scope>AAYXX</scope><scope>CITATION</scope><scope>3V.</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>7XB</scope><scope>8AL</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>8FK</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>FR3</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K7-</scope><scope>L6V</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>M0N</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><scope>Q9U</scope><orcidid>https://orcid.org/0000-0002-0924-4242</orcidid></search><sort><creationdate>20200801</creationdate><title>Ground Vehicle Driving by Full Sized Humanoid</title><author>Sohn, Kiwon ; 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| subjects | Artificial Intelligence Competition Control Control systems Data integration Electrical Engineering Engineering Experimentation Humanoid Mechanical Engineering Mechatronics Multisensor fusion Pattern analysis Robot control Robotics Robotics industry Robots Sensors Teleoperators Upgrading |
| title | Ground Vehicle Driving by Full Sized Humanoid |
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