Carnegie Mellon University
The
CHIMP, the CMU Highly Intelligent Mobile Platform

Anthony (Tony) Stentz , Herman Herman , Alonzo Kelly , Eric Meyhofer, Galen Clark Haynes, David Stager, Brian Zajac, J. Andrew (Drew) Bagnell, Jordan Brindza, Christopher Dellin, Michael George , Jose Gonzalez-Mora, Sean Hyde, Morgan Jones, Michel Laverne, Maxim Likhachev , Levi Lister, Matthew D. Powers, Oscar Ramos, Justin Ray, David P. Rice, Justin Scheifflee, Raumi Sidki, Siddhartha Srinivasa, Kyle Strabala, Jean Philippe Tardif, Jean-Sebastien Valois , J Michael Vandeweghe, Michael D. Wagner , and Carl Wellington
Journal of Field Robotics (JFR), Special Issue: Special issue on DARPA Robotics Challenge (DRC), Vol. 32, No. 2, pp. 209–228, March, 2015.


Abstract
We have developed the CHIMP (CMU Highly Intelligent Mobile Platform) robot as a platform for executing complex tasks in dangerous, degraded, human-engineered environments. CHIMP has a near-human form factor, work-envelope, strength, and dexterity to work effectively in these environments. It avoids the need for complex control by maintaining static rather than dynamic stability. Utilizing various sensors embedded in the robot’s head, CHIMP generates full three-dimensional representations of its environment and transmits these models to a human operator to achieve latency-free situational awareness. This awareness is used to visualize the robot within its environment and preview candidate free-space motions. Operators using CHIMP are able to select between task, workspace, and joint space control modes to trade between speed and generality. Thus, they are able to perform remote tasks quickly, confidently, and reliably, due to the overall design of the robot and software. CHIMP’s hardware was designed, built, and tested over 15 months leading up to the DARPA Robotics Challenge. The software was developed in parallel using surrogate hardware and simulation tools. Over a six- week span prior to the DRC Trials, the software was ported to the robot, the system was debugged, and the tasks were practiced continuously. Given the aggressive schedule leading to the DRC Trials, development of CHIMP focused primarily on manipulation tasks. Nonetheless, our team finished 3rd out of 16. With an upcoming year to develop new software for CHIMP, we look forward to improving the robot’s capability and increasing its speed to compete in the DRC Finals.

Notes

Text Reference
Anthony (Tony) Stentz , Herman Herman , Alonzo Kelly , Eric Meyhofer, Galen Clark Haynes, David Stager, Brian Zajac, J. Andrew (Drew) Bagnell, Jordan Brindza, Christopher Dellin, Michael George , Jose Gonzalez-Mora, Sean Hyde, Morgan Jones, Michel Laverne, Maxim Likhachev , Levi Lister, Matthew D. Powers, Oscar Ramos, Justin Ray, David P. Rice, Justin Scheifflee, Raumi Sidki, Siddhartha Srinivasa, Kyle Strabala, Jean Philippe Tardif, Jean-Sebastien Valois , J Michael Vandeweghe, Michael D. Wagner , and Carl Wellington , "CHIMP, the CMU Highly Intelligent Mobile Platform," Journal of Field Robotics (JFR), Special Issue: Special issue on DARPA Robotics Challenge (DRC), Vol. 32, No. 2, pp. 209–228, March, 2015.

BibTeX Reference
@article{Stentz__2015_7840,
   author = "Anthony (Tony) {Stentz } and Herman {Herman } and Alonzo {Kelly } and Eric Meyhofer and Galen Clark Haynes and David Stager and Brian Zajac and J. Andrew (Drew) Bagnell and Jordan Brindza and Christopher Dellin and Michael {George } and Jose Gonzalez-Mora and Sean Hyde and Morgan Jones and Michel Laverne and Maxim {Likhachev } and Levi Lister and Matthew D Powers and Oscar Ramos and Justin Ray and David P Rice and Justin Scheifflee and Raumi Sidki and Siddhartha Srinivasa and Kyle Strabala and Jean Philippe Tardif and Jean-Sebastien {Valois } and J Michael Vandeweghe and Michael D {Wagner } and Carl {Wellington }",
   title = "CHIMP, the CMU Highly Intelligent Mobile Platform",
   journal = "Journal of Field Robotics (JFR), Special Issue: Special issue on DARPA Robotics Challenge (DRC)",
   pages = "209–228",
   month = "March",
   year = "2015",
   volume = "32",
   number = "2",
}