CHIMP, the CMU Highly Intelligent Mobile Platform

Stentz, Anthony; Herman, Herman; Kelly, Alonzo; Meyhofer, Eric; Haynes, Galen Clark; Stager, David; Zajac, Brian; Bagnell, J. Andrew; Brindza, Ján; Dellin, Christopher M.; George, Michael; González–Mora, José Luis; Hyde, Sean; Jones, Morgan; Laverne, Michel; Likhachev, Maxim; Lister, Levi; Powers, Matt; Ramos, Oscar E.; Ray, J.; Rice, David; Scheifflee, Justin; Sidki, Raumi; Srinivasa, Siddhartha S.; Strabala, Kyle; Tardif, Jean-Philippe; Valois, Jean-Sebastien; Weghe, J. Michael Vande; Wagner, Michael; Wellington, Carl

doi:10.1002/rob.21569

Cited by 110 publications

(64 citation statements)

References 11 publications

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“…Cognitive neuroscience and systems neurophysiology are converging on the idea of movement as communication of intention from the brain to the external world. A revolution is occurring as machines are being designed to infer and operate on intention and to predict future action (Levinson et al, 2011; Muelling et al, 2015; Stentz et al, 2015). In biological systems, these factors are evident as the incorporation of expectation in even the simplest neuronal operations.…”

Section: Discussionmentioning

confidence: 99%

Movement: How the Brain Communicates with the World

Schwartz

2016

Cell

105

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Voluntary movement is a result of signals transmitted through a communication channel that links the internal world in our minds to the physical world around us. Intention can be considered the desire to effect change on our environment, and this is contained in the signals from the brain, passed through the nervous system to converge on muscles that generate displacements and forces on our surroundings. The resulting changes in the world act to generate sensations that feed back to the nervous system, closing the control loop. This Perspective discusses the experimental and theoretical underpinnings of current models of movement generation and the way they are modulated by external information. Movement systems embody intentionality and prediction, two factors that are propelling a revolution in engineering. Development of movement models that include the complexities of the external world may allow a better understanding of the neuronal populations regulating these processes, as well as the development of solutions for autonomous vehicles and robots, and neural prostheses for those who are motor impaired.

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Section: Discussionmentioning

confidence: 99%

Movement: How the Brain Communicates with the World

Schwartz

2016

Cell

105

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“…Such a kinematic-transformative scheme is also adopted by other participant teams that experienced DRC-Trials. "Chimp" of the Team Tartan Rescue and "Robot Simian" of JPL were designed to be convertible between legged and wheeled platforms (Hebert et al, 2015;Stentz et al, 2015). The Team NimbRo Rescue (a new entry team of DRC) also developed a quadruped platform, "Momaro," which has both legged and wheeled mechanisms (Behnke et al, 2015) for the Finals.…”

Section: Introductionmentioning

confidence: 99%

Technical Overview of Team DRC‐Hubo@UNLV's Approach to the 2015 DARPA Robotics Challenge Finals

Sohn

Jang

et al. 2017

Journal of Field Robotics

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This paper presents a technical overview of Team DRC-Hubo@UNLV's approach to the 2015 DARPA Robotics Challenge Finals (DRC-Finals). The Finals required a robotic platform that was robust and reliable in both hardware and software to complete tasks in 60 min under degraded communication. With this point of view, Team DRC-Hubo@UNLV integrated methods and algorithms previously verified, validated, and widely used in the robotics community. For the communication aspect, a common shared memory approach that the team adopted to enable efficient data communication under the DARPA controlled network is described. A new perception head design (optimized for the tasks of the Finals) and its data processing are then presented. In the motion planning and control aspect, various techniques, such as wheel-driven navigation, zero-momentpoint (ZMP) -based locomotion, and position-based manipulation and controls, are described in this paper. By introducing strategically critical elements and key lessons learned from DRC-Trials 2013 and the testbed of Charleston, we also illustrate how DRC-Hubo has evolved successfully toward the DRC-Finals. C 2017 Wiley Periodicals, Inc.

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“…The feet are assembled without any toe joints since the robot has sufficient torque to lift itself easily on one leg. The remotely anthropoid robot CHIMP features motorized tracks on the legs' end‐effector (Stentz et al., ). Of course, with a length of 40 cm and a width of 10 cm, these tracks provide a broad and stable base to perform different kinds of tasks.…”

Section: Introductionmentioning

confidence: 99%

System Design and Testing of the Hominid Robot Charlie

et al. 2016

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Current and future application scenarios for mobile robots deal with increased requirements regarding autonomy and flexibility in the locomotor system. To cope with these demands, a high sensor quantity and quality allows us to perform robust locomotion. The authors present a hominid robotic system that is equipped with multi‐point‐contact feet and an active artificial spine to incorporate extended sensing and locomotion capabilities for walking robots. In the proposed robotic system, the front and rear part are connected via an actuated spinal structure with six degrees of freedom. To increase the robustness of the system's locomotion in terms of traction and stability, a footlike structure equipped with various sensors has been developed. Altogether, the robot embodies more than 330 sensors. In terms of distributed local control, the structures feature their own local intelligence and are as autonomous as possible regarding sensing, sensor preprocessing, control, and communication. This allows the robot to respond to external disturbances with minor latency. Within this paper, the proposed robotic system and its distributed and hierarchical control method are presented. To validate the electromechanical and software approach, the authors present results verified experimentally in different environments (in‐ and outdoor) with differing walking speeds on various substrates and in varying inclinations from −20∘ to 20°. The results show that the presented approach is viable and improves the flexibility of the locomotor system. A hominid design was chosen in order to perform various types of locomotion. To demonstrate the entire functionality of the developed hardware, two different motion modes (quadrupedal and bipedal locomotion) are investigated. This also includes a stable transition from a four‐legged posture to an upright posture and vice versa.

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CHIMP, the CMU Highly Intelligent Mobile Platform

Cited by 110 publications

References 11 publications

Movement: How the Brain Communicates with the World

Movement: How the Brain Communicates with the World

Technical Overview of Team DRC‐Hubo@UNLV's Approach to the 2015 DARPA Robotics Challenge Finals

System Design and Testing of the Hominid Robot Charlie

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