Team THOR's Entry in the DARPA Robotics Challenge Trials 2013

摘要: This paper describes the technical approach, hardware design, and software algorithms that have been used by Team THOR in DARPA Robotics Challenge DRC Trials 2013 competition. To overcome big hurdles such as a short development time limited budget, we focused on forming modular components-in both software-to allow for efficient cost-effective parallel development. The of THOR-OP Tactical Hazardous Operations Robot-Open Platform consists standardized, advanced actuators structural components. These aspects allowed maintenance, quick reconfiguration, most importantly, relatively low build cost. We also pursued modularity software, which consisted hybrid locomotion engine, hierarchical arm controller, platform-independent remote operator interface. modules yielded multiple control options with different levels autonomy to suit various situations. flexible architecture rapid development, migration changes, options. systems were validated at Trials, where performed well against other robots successfully acquired finalist status.