Performing the Debris Task of the DRC Trials with the HRP-2Kai Humanoid Robot in Simulation

摘要

In this paper we describe the strategy that we want to use for enabling the HRP-2Kai robot [4] to complete one of the challenges: the Debris Task, which requires the robot to clear planks of wood out of a tightly constricted area, where a truss was also interfering [5]. This validation of this strategy is achieved in simulation by using the Graphical User Interface for teleoperation described in [6], which includes a dynamics engine for physics simulation.