DARPA robot challenge of otherness Walk man

After more than two years, United States Department of Defense Advanced research projects Agency (DARPA) organized by the robot challenge (DRC) will be held on June 5 this year, 6th final, the game will be held in California, took part in the DRC finals team has 25, Lei feng’s network details.

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Many teams use a revised Atlas robot, it is a Biped humanoid robot, by United States Boston Dynamics developed. Of course, some teams to build a new robot, for example from Italy Institute of Walk-man team. Lei feng’s network bring you an in-depth understanding of the team’s highly customizable robots. Flawless i6 case

In the process of designing and building Walk-man, obtained from other robot inspiration? Flawless cases

Walk-man of development is by European Committee of project development came of, we of target is created a new of schema design, so it and other existing machine people are different, except using traditional of robot elastic joint design method, Walk-man of hardware is 100% new of, he using custom design of power motor drive, in single joint at can provides thousands of w of peak power, we on its body schema design do has optimization, to reduced inertia and quality, While improving the dynamic performance of the robot. Use of rich sensory system can react differently, in terms of control, Walk-man drives can work in different locations, torque, and impedance.

How to treat the difference between Walk-man and Atlas?

The two robots are different because their drive system, Walk-man is a motor-driven robots, Atlas using a hydraulic system. But in some ways is very similar, such as height (1.85m) and shoulder (0.8M), Walk-man (120kg, knapsack-bearing) lighter than Atlas (180kg). Functionally, Walk-man joint mobility is very close to the Atlas and foot joints can produce 320N torque, can reach speeds of between 11rad/s and 12rad/s,Walk-man arms stretch wide and 140N torque can be generated. We’d like to make a robot more efficient than Atlas, and not charging for a long time.

Software that can control the robot what to do? Robots can do what?

Software architecture is based on ROS, YARP, robot software components using ROS module interface is based on Italy Polytechnic YARP middleware development. Robot operation by station staff, using robotic perceptual system, you can automate some tasks, such as balancing, walking and distance measurement. Most of the command-driven robot action provided by the operator when the robot is in the distant places of carrying out their duties, be responsible for their decisions and actions required by the operator. In order to build the venues of the DRC, we set up a special training area in the laboratory, we also practice driving tasks in the car park of the Polytechnic Institute.

What are the biggest challenges to date?

For us, the biggest challenge was time, Walk-man only 15 months after the start of the project was the introduction of DRC, we must build a new platform, and simulation to develop our software, Walk-man designs and manufactures complete in the record in October, then we need to debug the hardware and software, system stability, we can do experiments and perform tasks. In the DRC before the final, we have only three months to adjust to the new custom components, this is a big challenge.

How many people in your team?

This team has 19 people, most master’s and doctoral students and postdoctoral researchers. Robotic software development, 12 people, their commitment to the low-level firmware, software architecture, high levels of production and perception module. Hardware development, 7 people, 5 of whom are committed to the mechanical design of the system, 2 other people responsible for the customization of electronic equipment. Team from Italy Institute, of which 13 are full-time jobs, our cooperation with professors from the University of Pisa.

via ieee

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