THOR-OP humanoid robot for DARPA Robotics Challenge Trials 2013
作者： Seung-Joon Yi , Stephen McGill , Larry Vadakedathu , Qin He , Inyong Ha
DOI: 10.1109/URAI.2014.7057369
关键词:
摘要: This paper describes the hardware design and motion control algorithms that have been used by Team THOR in DARPA Robotics Challenge (DRC) Trials 2013 competition. The robotic we use, THOR-OP robot, consists of standardized general purpose actuators structural components, which greatly reduce build reconfiguration time allows for quick field repair capability. Our software framework is also composed fully modular function modules. structure helps us to keep up easily with changes multiple options suit various situations. We validated our approach at DRC where fared well against other robots many times more expensive acquired finalist status.
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