This video shows the latest progress of the IHMC DARPA Robotics Challenge team. It focuses heavily on walking capabilities, but also includes some other developments such as multi-contact balance and steering wheel control. In the walking work, we tried to address a variety of challenges to bipedal locomotion that might be encountered during a disaster response.
30 DoF Robot Climbing Steep Stairs
A 30 DoF simulated test robot climbing stairs with a rise of 35 cm and a tread of only 15 cm at a rate of 7.9 seconds per ten steps. Stairs this steep disallow the use of the full foot polygon to balance on a step by CoP placement, forcing us to focus on the use of angular momentum and improved weight distribution algorithms for balance control.
Simple Force Controlled Manipulation
Demo0 - the first internal demo for the IHMC Darpa Robotics Challenge Effort. Since most of the efforts of the IHMC Robotics lab have been in bipedal locomotion, we felt a need to show ourselves that we could do basic manipulation as well.
DRC driving task outtakes. The GFE robot sits on a box and is supposed to manipulate the steering wheel (which is comically large for testing purposes). There was a bug in the specification of the desired configurations of the hands with respect to the steering wheel, resulting in the behavior shown in the video.