NDLI: Modular low-cost humanoid platform for disaster response

Content Provider	IEEE Xplore Digital Library
Author	Seung-Joon Yi McGill, S. Vadakedathu, L. Qin He Inyong Ha Rouleau, M. Hong, D. Lee, D.D.
Copyright Year	2014
Description	Author affiliation: Virginia Tech, Blacksburg, VA, USA (Rouleau, M.) \|\| GRASP Lab., Univ. of Pennsylvania, Philadelphia, PA, USA (Seung-Joon Yi; McGill, S.; Vadakedathu, L.; Qin He; Lee, D.D.) \|\| Univ. of California, Los Angeles, Los Angeles, CA, USA (Hong, D.) \|\| Robotis Co., Ltd., Seoul, South Korea (Inyong Ha)
Abstract	Developing a reliable humanoid robot that operates in uncharted real-world environments is a huge challenge for both hardware and software. Commensurate with the technology hurdles, the amount of time and money required can also be prohibitive barriers. This paper describes Team THOR's approach to overcoming such barriers for the 2013 DARPA Robotics Challenge (DRC) Trials. We focused on forming modular components - in both hardware and software - to allow for efficient and cost effective parallel development. The robotic hardware consists of standardized and general purpose actuators and structural components. These allowed us to successfully build the robot from scratch in a very short development period, modify configurations easily and perform quick field repair. Our modular software framework consists of a hybrid locomotion controller, a hierarchical arm controller and a platform-independent operator interface. These modules helped us to keep up with hardware changes easily and to have multiple control options to suit various situations. We validated our approach at the DRC Trials where we fared very well against robots many times more expensive.
Starting Page	965
Ending Page	972
File Size	2755110
Page Count	8
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942676
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Hardware Laser radar Software Joints Full Body Balancing Controller DARPA Robotic Challenge Humanoid Robot Modular Design
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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