Gennert, Michael A.
Heinricher, Arthur C.
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.
Worcester Polytechnic Institute
Major Qualifying Project
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Electrical and Computer Engineering