Upload
ivan-avramov
View
231
Download
0
Embed Size (px)
Citation preview
7/28/2019 DARPA Robotics
1/80
DARPA RoboticsChallenge
Proposers Day
April 16, 2012
7/28/2019 DARPA Robotics
2/80
2
DARPA Robotics Challenge Proposers Day
The Proposers Day will
begin at 12:10 PM EDT
April 16, 2012
7/28/2019 DARPA Robotics
3/80
3
DARPA Robotics Challenge Proposers Day
Dr. Gill PrattProgram Manager, DARPA
7/28/2019 DARPA Robotics
4/80
DARPA Robotics Challenge Proposers Day Agenda
4
12:00PM-12:10PM Set up/Test Connection
12:10PM-12:15PM Introductory Remarks, OSTP Dr. John Holdren, Assistant to the President forScience and Technology and Director of Scienceand Technology Policy (OSTP)
12:15PM-12:25PM Introductory Remarks,DARPA
Dr. Kaigham J. Gabriel, Acting Director, DARPA
12:25PM-12:40PM DARPA/TTO Overview Mr. Paul Eremenko, Acting Director/Deputy
Director, DARPA TTO
12:40PM-1:40PM Robotics Challenge Overview Dr. Gill Pratt, Program Manager, DARPA
1:40PM-1:55PM Contracts Management Mr. Chris Glista, Contracting Officer, DARPA
1:55PM-2:10PM GFE Hardware Dr. Robert Playter, Boston Dynamics, Inc.
2:10PM-2:25PM GFE Software Mr. Nate Koenig, Open Source Robotics
Foundation, Inc.
2:25PM-2:45PM Break
2:45PM-3:15PM Q/A Response
3:15PM Adjourn
7/28/2019 DARPA Robotics
5/80
5
Introductory Remarks, OSTP
Dr. John HoldrenAssistant to the President for Scienceand Technology and Director, Office ofScience and Technology Policy (OSTP)
7/28/2019 DARPA Robotics
6/80
Dr. John HoldrenVIDEO
4/16/20126Further dissemination only as directed by DARPA Public Release Center or higher DoD authority.
7/28/2019 DARPA Robotics
7/807
Introductory Remarks, DARPA
Dr. Kaigham J. GabrielActing Director, DARPA
7/28/2019 DARPA Robotics
8/80
4/16/20128Further dissemination only as directed by DARPA Public Release Center or higher DoD authority.
Dr. Kaigham J. GabrielVIDEO
7/28/2019 DARPA Robotics
9/80
DARPA/TTO Overview
Mr. Paul Eremenko, Acting Director
Tactical Technology Office
Briefing prepared for Robotics Challenge Proposers Day
April 16, 2012
Photo: DARPA
4/16/2012 9Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
10/80
1 9 5 7
Sputnik
34th President of the United States 1953-1961.
Coined the term military-industrial complexand warned against its unwarranted influence.Created DARPA in response to Sputnik.
First orbiting satellite. The satellite was not a
threat, but the level of technology indicated thatthe Soviet Union possessed superior capability forintercontinental reconnaissance and bombing.
Dwight D. Eisenhower
1 9 5 8
DARPA
4/16/2012 10Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
11/80
The Defense Advanced Research Projects Agency (DARPA)
was established in 1958 to prevent strategic surprisefrom negatively impacting U.S. national security and createstrategic surprise for U.S. adversaries by maintaining thetechnological superiority of the U.S. military.
To fulfill its mission, the Agency relies on diverseperformers to apply multi-disciplinary approaches to bothadvance knowledge through basic research and createinnovative technologies that address current practicalproblems through applied research.
As the DoDs primary innovation engine, DARPAundertakes projects that are finite in duration but thatcreatelasting revolutionary change.
Mission
4/16/2012 11Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
12/80
Create and prevent strategic surprise
Lean, agile risk-taking organization
Idea-driven and outcome-oriented
Demonstrate solution concepts
Idea leadership culture
4/16/2012 12Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
13/80
Impossible ideas become real life at DARPA
4/16/2012 13Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
14/80
1 8 6 5 1 9 6 71 9 5 7
DARPA: F1 engine Saturn V
Photo: http://moonbooks.net
Books
Spaceflight
4/16/2012 14Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
15/80
1 9 6 6 1 9 8 61 9 8 0 s
Photo: http://www.globalnerdy.com Photo: http://www.wired.com
TelevisionDARPA: research Cellular phone
Wireless communications
4/16/2012 15Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
16/80
Original ARPAnet for remotely
sharing large volumes of data.
1 9 6 91 9 6 9
Fictional access news and personal
communication on tablet devices.
2 0 1 0
News and personal communication
available on tablet devices.
Photo: http://www.mercurybrief.com/2010/01/kubrick-slates-tablets-2001-film/
Photo: http://www.surfmobee.com
The internet
4/16/2012 16Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
17/80
DARPA sponsored flight technology
demonstrator to improve survivability ofa single aircraft against a modern IADS
Combined with precise weapons
against C2 targets to improvesurvivability for allforces in
Desert Storm
1 9 9 11 9 7 81 9 7 6
Hopeless diamond concept
rejected by U.S. Air Force
Stealth
4/16/2012 17Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
18/80
1 9 9 0 s1 9 6 3
DARPA Transit 2A satellite
pioneered doppler navigationfor specific military missions.
Became global precision
navigation technology formilitary and civilianuse.
Continued military and
commercial refinement fortactical applications
2 0 1 0
Global Positioning System
4/16/2012 18Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
19/80
1 9 9 7 - 2 0 0 91 9 8 6
DARPA flight technology demonstrator to prove the
feasibility of the technology; shelved because it didnot fit into prevailing air operations thinking.
Rapidly adopted and matured to counter
new threats more effectively than existingplatforms and doctrine could.
Photo: General Atomics
Photo: General Atomics
Surveillance UAVs
4/16/2012 19Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
20/80
2 0 1 11 9 2 7
DARPA: Autonomous Robotics Manipulation
Image: http://www.jeffbots.com/maria.html
2 0 X X
Movies
Automation
4/16/2012 20Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
21/80
1 9 6 2 2 0 1 0 2 0 X X
Books Research
Image: http://www.tomswift.info
Multi-mode mobility
4/16/2012 21Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
22/80
X-Planes
RF Stealth
The Internet
GPS
Space Launchand Navigation
SyntheticAperture Radar
AutonomousSystems
Continuous accomplishment
4/16/2012 22Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
23/80
Comms &Networks
Global
Tactical ISR
Energy
HybridWarfare
Extreme
Environments
Space Systems &Space Awareness
Hypersonics
Space Access
Aero- &HydrodynamicSystems
Ground & SoldierSystems
Design Synthesis
Manufacturing
Qualification/V&V
Autonomy
Global ISR
Cyber
Social Networks
ComputationalSocial Science
LanguageTransparency
Edge Finding
Training/Education
Basic ScienceCore
Devices
Integration
Power
Architectures
Application
PhysicalSciences
Materials
Mathematics
Training &HumanEffectiveness
Biological
WarfareDefense
Biology
DSO MTOI2O TTOSTOAEO
AgilePrograms withFrequentDevelopmentCycles
ConductSystematicRigorous
Assessments
Explore NewContracting
Approaches
DevelopStrongRelationships
DefenseSciencesOffice
MicrosystemsTechnologyOffice
InformationInnovationOffice
TacticalTechnologyOffice
AdaptiveExecutionOffice
StrategicTechnologyOffice
Organization
4/16/2012 23Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
24/80
Flat organization
Little hierarchy to ensure the free and rapid flow of information,ideas, and decisions.
Outstanding program managersDARPA hires creative, independent people with big ideas andempowers them.
Project-based assignmentsProjects organized around a challenge model and typically last threeto five years; longer if necessary to facilitate transition.
No DARPA labsMajority of the research is sponsored in industry and universities
with a small amount in government labs.
Flexible outsourcing of staff and performersGreat talents and ideas from industry, universities, and governmentlabs with technical, contracting, and administrative services fromother commercial and government agencies.
Professional reach
4/16/2012 24Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
25/80
www.darpa.mil
4/16/2012 25Distribution Statement A (Approved for Public Release, Distribution Unlimited).
7/28/2019 DARPA Robotics
26/80
DARPA Robotics Challenge
Proposers Day
April 16th, 2012
Dr. Gill A. Pratt, Program Manager
26Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
7/28/2019 DARPA Robotics
27/80
Recent Disasters
27Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)Fukushima - 2011
Katrina - 2005 Deepwater
Horizon
2010
Man Computer Symbiosis
7/28/2019 DARPA Robotics
28/80
Inspiration and Goals
28Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
1. Target disaster response in dangerous
environments, and important DoD capability forHADR (Humanitarian Assistance and Disaster
Relief) missions
2. Advance supervised autonomy, mobility,
manipulation, and energetic efficiency.
3. Catalyze the robotics industry by developing a
validated, real-time, operator-interactive
simulator.
4. Welcome a wide range of international
contributors including traditional and non-
traditional DARPA performers from a variety of
fields.
Man-Computer Symbiosis J. C. R. Lic klid er (head of DARPA IPTO 1962)
IRE Transactions on Human Factors in Electronics,volume HFE-1, pages 4-11, March 1960
close study of the disasters first 24 hours,before the cascade of failures carried reactor 1beyond any hope of salvation, reveals clearinflection points where minor differences wouldhave prevented events from spiraling out ofcontrol. IEEE Spectrum, November 2011 pg. 36.
Fukushima - 2011
7/28/2019 DARPA Robotics
29/80
1. Environment, even degraded, has been engineered for humans
2. No shortage of humantools, from hand tools to vehicles
3. Human-like robot capabilities are easier for domain experts to understand anduntrained operators to control
Why emphasize human-like robot capabilities?
29Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
7/28/2019 DARPA Robotics
30/80
30
Supervisory Autonomy and Predictive Models
EnvironmentHuman
EnvironmentTele-opRobot
Human
EnvironmentTele-opRobot
EnvironmentHumanPredictiveModel
EnvironmentSprv. Auto
Robot
Sprv. AutoRobot
EnvironmentHuman
DARPAChallenge
High Fidelity Interface
Low Fidelity Interface
Variable Fidelity Interface
PredictiveModel
Human PredictiveModel
Human PredictiveModel
Decouple
Decouple
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
7/28/2019 DARPA Robotics
31/80
31
Questions this Program will Address
HumanPredictiveModel
Sprv. AutoRobot
1. What kind of I/O
2. What kind of messages
3. What autonomy, mobility,manipulation, energetics
4. Tasks and Metrics
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
7/28/2019 DARPA Robotics
32/80
32
Example Disaster Challenge Scenario
Autonomy-Perception
AutonomyDecision-mak
ing
MountedMobility
Dism
ountedMobility
Dex
terity
Stre
ngth
End
urance
1. Drive utility vehicle to site X X X X
2. Travel dismounted across rubble X X X
3. Remove debris blocking entryway X X X X X
4. Open door, enter building X X X X
5. Climb industrial ladder, traverse industrial walkway X X X
6. Use tool to break through concrete panel X X X X X
7. Locate and close valve near leaking pipe X X X X X X
8. Replace component X X X
Tasks
Capabilities
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
7/28/2019 DARPA Robotics
33/80
33
Planned Tasks subject to change
Task 1 - Drive a utility vehicle to the site
The robot must demonstrate mounted mobility by ingress to the vehicle, driving it on a road,and egress from the vehicle. The robot must also demonstrate manipulation by operating thecontrols, including steering, throttle, brakes, and ignition. The robot must steer, accelerate,and brake.
Task 2 -Travel dismounted across rubble
The robot must demonstrate dismounted mobility by crossing terrain ranging from smoothand level, to rough and sloped, with some loose soil and rocks. This terrain will be easilytraversable by a human.
Task 3 - Remove debris blocking an entryway
The robot must demonstrate the dexterity and strength to move an object blocking anentryway. The object will have size, weight, and other properties to be movable either by aperson or by the GFE Platform. The object mass is expected not to exceed 5 kg.
Task 4 - Open a door and enter a building
The robot must demonstrate the dexterity to operate a door handle and the strength to push
the door open.Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
7/28/2019 DARPA Robotics
34/80
34
Planned Tasks (cont.) subject to change
Task 5 - Climb an industrial ladder and traverse an industrial walkway
The robot must demonstrate dismounted mobility to traverse an industrial elevated walkway.It is expected that the walkway (or catwalk) will have a grated surface and handrails.
Task 6 - Use a tool to break through a concrete panel
The robot must demonstrate using a power tool to perform forceful manipulation. The powertool is expected to be an air or electric impact hammer and chisel, or an electric
reciprocating saw.
Task 7 - Locate and close valve near leaking pipe
The robot must demonstrate the perception ability to find a leaking pipe and a nearby valve,the dismounted mobility to approach the valve, and the manipulation ability to close the
valve
Task 8 - Replace cooling pump
The robot must demonstrate the perception ability to locate the pump, the manipulationability to loosen one or more fasteners, and the bi-manual manipulation ability to extract andreplace the pump.
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
7/28/2019 DARPA Robotics
35/80
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited) 35
Participation Options
Track A - Funded Teams design and build platform systems to participatein Disaster Response Challenge.
Track B Teams develop algorithms using DARPA provided Simulator.Disaster Virtual Challenge conducted to identify which teams will be
provided GFE Robot and additional funding to participate in DisasterResponse Challenge
Track C Unfunded teams use Simulator to and develop algorithms andparticipate in Disaster Virtual Challenge and will compete along withTrack B teams for GFE Robot and funding award
Track D Unfunded teams develop platforms to compete in DisasterResponse Challenges
7/28/2019 DARPA Robotics
36/80
Planned Schedule and Funding
36Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
7/28/2019 DARPA Robotics
37/80
37
Planned Program Funding
The program has planned the following funding for teams. This plan is subject to
change depending on the number of qualified teams and available resources.
Phase 1Track A: Up to $3M for each team (up to five (5) teams for fifteen (15) months).
Track B: first nine (9) months through the Virtual Disaster Response Challenge:
Up to $375k for each team, with up to twelve (12) teams.
Track B/Track C: last six (6) months after the Virtual Disaster ResponseChallenge: Up to $750k additional for each team, with up to six (6) teams.
Phase 2Up to $1M for up to eight (8) of the top performing teams from the first physicaldisaster challenge.
PrizeAnticipated to be $2M to a single team.
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
7/28/2019 DARPA Robotics
38/80
Planned Key Dates
38
May 31, 2012 BAA Closing
October 2012 Anticipated Contract Awards/Program Kickoff
June 2013 Virtual Disaster Response Challenge
December 2013 Disaster Response Challenge #1
December 2014 Disaster Response Challenge #2
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
7/28/2019 DARPA Robotics
39/80
www.darpa.mil
39Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
7/28/2019 DARPA Robotics
40/80
BAA Process
Mr. Chris Glista
DARPA Contracts Management Office
DARPA Robotics Challenge Proposers Day
April 16, 2012
40Distribution Statement A
7/28/2019 DARPA Robotics
41/80
BAA and any amendments posted in FEDBIZOPPS
BAA covers all info needed to propose
TIME PERIOD BAA is open until May 31, 2012
Instructions are detailed in the BAA (Follow closely)
Following the proposal instructions assists the evaluation
team to clearly understand what is being proposed and
supports a timely negotiation.
ALL questions to [email protected]
BAA Specifics
4/16/12 41Distribution Statement A
7/28/2019 DARPA Robotics
42/80
Federal Acquisition Regulation (FAR) Part 35
http://farsite.hill.af.mil
A general announcement of an agencysresearch interest including criteria for selecting
proposals of all offerors capable of satisfying theGovernments needs.
For the acquisition of basic and applied research
not related to the development of a specificsystem or hardware procurement.
BAA Background
4/16/12 42Distribution Statement A
k d ( )
http://farsite.hill.af.mil/http://farsite.hill.af.mil/7/28/2019 DARPA Robotics
43/80
Used when proposals with varying technical and
scientific approaches can be expected
Proposals need not be evaluated against oneanother since they are not submitted in
accordance with a common work statement. Primary basis for selecting proposals shall be
technical, importance to agency programs, andfund availability.
Cost realism shall also be considered
BAA Background (cont.)
4/16/12 43Distribution Statement A
BAA B k d ( )
7/28/2019 DARPA Robotics
44/80
Contractors SHALL NOT subcontract technical or
scientific work without the contracting officersknowledge
BAA Background (cont.)
4/16/12 44Distribution Statement A
IMPLICATIONS
7/28/2019 DARPA Robotics
45/80
FAR PART 15 Contracting By Negotiation does
not apply in full No competitive range determination
No mandatory discussions
No opportunity for proposal revision
Cost and Pricing Data (certification required forall FAR-based contract proposals greater than
$700K) Subcontract consent and key personnel clauses to
be included in awards
IMPLICATIONS
4/16/12 45Distribution Statement A
C i ti
7/28/2019 DARPA Robotics
46/80
ALL questions to [email protected]
After Receipt of Proposals Government (PM/PCO)may communicate with proposers to understand themeaning of some aspect of the proposal that is notclear or to obtain confirmation or substantiation of a
proposed approach, solution, or cost estimate
Informal feedback may be provided once selection(s)are made no ranking provided
Communications
4/16/12 46Distribution Statement A
A li t Eli ibilit
mailto:[email protected]:[email protected]7/28/2019 DARPA Robotics
47/80
All interested/qualified sources may respond
International participants/resources may participate tothe extent authorized by applicable SecurityRegulations, Export Laws, etc.
Small Business Participation Encouraged, Teaming Not
Required
Applicant Eligibility
4/16/12 47Distribution Statement A
A li t Eli ibilit ( t )
7/28/2019 DARPA Robotics
48/80
Government agencies/labs, FFRDCs cannot propose to
this BAA in any capacity, UNLESS they can clearlydemonstrate the work is not otherwise available from theprivate sector AND they also provide writtendocumentation citing the specific statutory authority (aswell as, where relevant, contractual authority)establishing their eligibility to propose to governmentsolicitations
Applicant Eligibility (cont.)
4/16/12 48Distribution Statement A
O i ti l C fli t f I t t
7/28/2019 DARPA Robotics
49/80
All facts relative to a potential conflict of interest must be
disclosed. Examples of conflicts listed at FAR Part 9.505
Provided Systems Engineering and Technical Direction
Contractors MAY NOT simultaneously provide SETAsupport and be a technical performer at DARPA withoutwaiver approved by DARPA Director
Organizational Conflict of Interest
4/16/12 49Distribution Statement A
A a d T pe
7/28/2019 DARPA Robotics
50/80
Award Instrument
Contract, Grant, Cooperative Agreement, OtherTransaction
http://farsite.hill.af.mil/ (FAR Contracts)
http://www.dtic.mil/whs/directives/corres/html/321006r.htm (Grants,Cooperative Agreements)
www.acq.osd.mil/dpap/Docs/otguide.doc (Other Transactions)
In all cases the Contracting Officer shall have sole
discretion to select award type instrument
Award Type
4/16/12 50Distribution Statement
Rights to Technical Data and Computer Software
http://farsite.hill.af.mil/http://www.dtic.mil/whs/directives/corres/html/321006r.htmhttp://www.acq.osd.mil/dpap/Docs/otguide.dochttp://www.acq.osd.mil/dpap/Docs/otguide.dochttp://www.dtic.mil/whs/directives/corres/html/321006r.htmhttp://farsite.hill.af.mil/7/28/2019 DARPA Robotics
51/80
Assert rights to all technical data & computer softwaregenerated, developed, and/or delivered to which theGovernment will receive less than Unlimited Rights
Assertions apply to Prime and Subs
Justify Basis of Assertion
Use defined Basis of Assertion and RightsCategory
Assessed during evaluation under the Potential toAccomplish Technology Transition Evaluation Factor
Rights to Technical Data and Computer Software
4/16/12 51Distribution Statement A
7/28/2019 DARPA Robotics
52/80
Atlas Robot Overview for DARPA
Robotics Challenge
Robert Playter
Marc RaibertApril 16, 2012
Atlas Overview
7/28/2019 DARPA Robotics
53/80
Atlas Overview
Near copy ofPETMAN/Atlas
50th percentile male
anthropometry
27 actuated, hydraulicDOFs
2 on-board computers
Power tether
Sensing head Modular wrist
Protective shells
Current Performance
7/28/2019 DARPA Robotics
54/80
Current Performance
PETMAN Video
Robot Degrees of Freedom (DOF)
7/28/2019 DARPA Robotics
55/80
Robot Degrees of Freedom (DOF)
27 Active DOFs
NECK: 2 DOF BACK: 3 DOF
SHOULDER: 3 DOF
ELBOW: 1 DOF
WRIST: 2 DOF
HIP: 3 DOF
KNEE: 1 DOF
ANKLE: 1 DOF
Hands attach through modular
wrist Mechanical interface
Electrical & data interface
Actuator Design Targets
7/28/2019 DARPA Robotics
56/80
56
Actuator Design Targets
Joint DoF
Derived RoM in degrees
Add uction /Abd uctio n ( rx) Flex ion/Extension ( r y) Internal/Medial Ro tat ion ( rz)
min max range min max range min max range
hip 3 -30 30 60 -100 20 120 -10 70 80
knee 1 0 135 135
ankle 2 -40 40 80
mid foot n/a
back 3 -40 40 80 -35 25 60 -45 45 90
neck 3 -45 45 90 -90 90 180
shoulder 3 0 115 115 -90 50 140 -40 100 140
elbow 1 -135 0 135
wrist 3 -30 60 90 -85 85 170
Joint DoF
Derived Strengths in Newton-Meters
Adduct ion/Abduction (rx) Flex ion/Extension (ry) Internal/Medial Ro tat ion (rz)
Strength Strength Strength
hip 3 180 260 110
knee 1 220ankle 2 220
mid foot 0 Passive Flexure
back 3 100 180 110
neck 3 25 54
shoulder 3 110 110 80
elbow 1 100
wrist 3 30 15
Robot Weight Estimates
7/28/2019 DARPA Robotics
57/80
57
Robot Weight Estimates
Weight estimate for current design:
178 lbs
COMPONENTMASS
[KG]MASS
[LBS]
Pelvis & Leg 30.7 67.7
Torso & Back 9.8 21.5
Arm & Hand 10.2 22.6
Head & Neck 1.8 4.0
Hoses & Cables 3.4 7.6
Skin 17.0 37.5
Misc. Hardware 5.5 12.1
Fluid (Oil/Water) 2.5 5.6
ROBOT TOTAL 81 178
Power Plant 22.0 48.5
TOTAL 103 227
12%13%
2%
4%
21%
7%
3%
38%
Pelvis & Leg
Torso & Back
Arm & Hand
Head & Neck
Hoses & Cables
Skin
Misc. Hardware
Fluid (Oil/Water)
Power Tether
7/28/2019 DARPA Robotics
58/80
58
Power
Pack
Tether
Electric power Cooling water
Power Tether
Laboratory
Electrical
Power
Cooling Water
Robot Computing Architecture
7/28/2019 DARPA Robotics
59/80
Robot Computing Architecture
Robot Computer
Actuators (27)
Joint Sensors
Hands
GigE
CANbus
GigE
User Computer
Sensors- IMU
- LIDAR
- Stereo Cameras
CANbus
WIFI
7/28/2019 DARPA Robotics
60/80
Mr. Nate KoenigOpen Source Robotics Foundation, Inc.
7/28/2019 DARPA Robotics
61/80
Simulation for robots
Focus on accurate physical simulationEasy transition to and from simulation
Remove hardware issues and resource constraints
Support common robot control softwareCustom client code
ROS interface
Player interface
Support sharing of resourcesNew sensors, actuators, models, and environments
7/28/2019 DARPA Robotics
62/80
Additional Benefits
No real-time constraintsSimulate faster than real time
Regression testing
Use simulation for automated tests
Universal test environmentCreate benchmarks
Run a competitionFlexibility
Handles a wide range of environments and tasks
Thin programmatic layer to Gazebo functionality
7/28/2019 DARPA Robotics
63/80
7/28/2019 DARPA Robotics
64/80
7/28/2019 DARPA Robotics
65/80
7/28/2019 DARPA Robotics
66/80
7/28/2019 DARPA Robotics
67/80
7/28/2019 DARPA Robotics
68/80
Architecture
Physics Visualization Interfaces
Rigid Body Dynamics OpenGL Plugins and IPC
ODE
Bullet
OGRE Google Protobuf
Boost
7/28/2019 DARPA Robotics
69/80
Robot Models
Simple platformsBuilt-in shapesMesh skinning
Realistic physical propertiesMeshes as collision objectsMass and inertia propertiesSurface friction6 joint types
Full sensor suiteLaser range findersMono/Stereo camerasKinectContact
J oint force/torques
7/28/2019 DARPA Robotics
70/80
Environments
SimpleFocusedscenarioManipulationPerception
Aerial robotsOutdoor mobile and legged robots
Outdoor
Indoor
Path planningMobile manipulationClone real environment
7/28/2019 DARPA Robotics
71/80
Show video with next slide
Presenter will talk to it
7/28/2019 DARPA Robotics
72/80
Gazebo Demo
Part 1: Canyon fly-through
Custom terrain generated from a greyscale image
Animated quadrotorThanks to J ohannes Meyer and Stefan Kohlbrecher
Part 2: Pioneer2dx and office environment
Player interface used to drive the Pioneer2dx
Laser range finder sensor visualization
Part 3: PR2 and YouBotPR2 object manipulation using ROS Interactive markers
Part 4: Character animation
Experimental animation of characters using skeletons
Thanks to Mihai Dohla
7/28/2019 DARPA Robotics
73/80
Tools
Command line toolsSystem inspection
Insert and remove models
Graphical toolsModel placement
J oint and mass visualizations
Sensor visualizations
7/28/2019 DARPA Robotics
74/80
Resources
Robot modelsDistributed in Gazebo
Work in progress
Online model databaseGraphical model builder
EnvironmentsDistributed in Gazebo
Google's 3D warehouse
Google Sketchup or Blender
Help
http://gazebosim.org
7/28/2019 DARPA Robotics
75/80
Roadmap
1.2
VehiclesToolsOutdoor environmentsCluster support
1.4
Bullet integrationMulti-floor structuresSonar, force-torque, pressuresensors
1.6
Customize GUI APILarge environmentsVehicle suspension models
2.0
Friction and noise modelsHardware in the loopDeformable objects
7/28/2019 DARPA Robotics
76/80
Community
Support and Contributinghttp://gazebosim.org/support.html
Wikihttp://gazebosim.org/wiki
Kforge projecthttps://kforge.ros.org/projects/gazebo/
7/28/2019 DARPA Robotics
77/80
Thank you
Physics LeadJ ohn Hsu
Co-Founder: RetiredAndrew Howard
Core ContributorMihai Dolha
ContributorsChristian GagneraudBrian GerkeyStefan Kohlbrecher
J ohannes MeyerAlexis Maldonado
J ordi PoloAbbas SadatRichard Vaughan
7/28/2019 DARPA Robotics
78/80
78
DARPA Robotics Challenge Proposers Day
We are on a temporary breakand will be back shortly
7/28/2019 DARPA Robotics
79/80
79
DARPA Robotics Challenge Proposers Day
Q&A Response
7/28/2019 DARPA Robotics
80/80
DARPA Robotics Challenge Proposers Day
Adjourn