A General-purpose System for Teleoperation of the DRC-HUBO Humanoid Robot

We present a general system with a focus on addressing three events of the 2013 DARPA Robotics Challenge (DRC) trials: debris clearing, door opening, and wall breaking. Our hardware platform is DRC-HUBO, a redesigned model of the HUBO2+ humanoid robot developed by KAIST and Rainbow, Inc. Our system allowed a trio of operators to coordinate a 32 degree-of-freedom robot on a variety of complex mobile manipulation tasks using a single, unified approach. In addition to descriptions of the hardware and software, and results as deployed on the DRC-HUBO platform, we present some qualitative analysis of lessons learned from this demanding and difficult challenge.