Accession Number:

ADA617165

Title:

Symbiotic Optimization of Behavior

Descriptive Note:

Final rept. Sep 2012-Dec 2014

Corporate Author:

WASHINGTON UNIV SEATTLE

Personal Author(s):

• Todorov, Emanuil

Report Date:

2015-05-01

Pagination or Media Count:

13.0

Abstract:

This project was part of the DARPA Virtual Robotics Challenge VRC. The goal was to control a simulated Atlas robot in the GazeboODE virtual environment and make it walk, drive a car, and connect a hose. Our approach was based on model - predictive control MPC. We created a parallel simulation in our virtual environment MuJoCo which was able to simulate the robot dynamics much faster than real - time. This made it possible to optimize the controls online -- by exploring many candidate movement strategies and finding the one that is expected to work best starting from the currently estimated state of the robot.

Descriptors:

• *CONTROL SYSTEMS
• *DECISION MAKING
• *PERFORMANCE(ENGINEERING)
• *ROBOTS
• *TELEOPERATORS
• BEHAVIOR
• COMPUTER COMMUNICATIONS
• DATA FUSION
• HISTOGRAMS
• MAN COMPUTER INTERFACE
• MULTISENSORS
• NETWORK ARCHITECTURE
• OPTIMIZATION
• REAL TIME
• STOCHASTIC PROCESSES
• TARGET DETECTION
• VISUAL PERCEPTION

Subject Categories:

• Computer Programming and Software
• Cybernetics
• Human Factors Engineering and Man Machine Systems

Distribution Statement:

APPROVED FOR PUBLIC RELEASE