Faculty Advisor

Gennert, Michael A.

Faculty Advisor

Heinricher, Arthur C.

Faculty Advisor

Padir, Taskin

Abstract

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.

Publisher

Worcester Polytechnic Institute

Date Accepted

May 2014

Major

Computer Science

Major

Mathematical Sciences

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Computer Science

Advisor Department

Electrical and Computer Engineering

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