DARPA Robotics Challenge Proposers Day

April 16, 2012

DARPA Robotics Challenge Proposers Day

The Proposers Day will begin at 12:10 PM EDT

April 16, 2012

DARPA Robotics Challenge Proposers Day

Dr. Gill Pratt

Program Manager, DARPA

DARPA Robotics Challenge Proposers Day Agenda

12:00PM-12:10PM 12:10PM-12:15PM

Set up/Test Connection Introductory Remarks, OSTP Dr. John Holdren, Assistant to the President for Science and Technology and Director of Science and Technology Policy (OSTP) Dr. Kaigham J. Gabriel, Acting Director, DARPA Mr. Paul Eremenko, Director, DARPA TTO Acting Director/Deputy

12:15PM-12:25PM 12:25PM-12:40PM 12:40PM-1:40PM 1:40PM-1:55PM 1:55PM-2:10PM 2:10PM-2:25PM 2:25PM-2:45PM 2:45PM-3:15PM 3:15PM

Introductory Remarks, DARPA DARPA/TTO Overview Robotics Challenge Overview Contracts Management GFE Hardware GFE Software Break Q/A Response Adjourn

Dr. Gill Pratt, Program Manager, DARPA Mr. Chris Glista, Contracting Officer, DARPA Dr. Robert Playter, Boston Dynamics, Inc. Mr. Nate Koenig, Foundation, Inc. Open Source Robotics

Introductory Remarks, OSTP

Dr. John Holdren

Assistant to the President for Science and Technology and Director, Office of Science and Technology Policy (OSTP)

Dr. John Holdren VIDEO

4/16/2012

Further dissemination only as directed by DARPA Public Release Center or higher DoD authority.

Introductory Remarks, DARPA

Dr. Kaigham J. Gabriel

Acting Director, DARPA

Dr. Kaigham J. Gabriel

VIDEO

4/16/2012

Further dissemination only as directed by DARPA Public Release Center or higher DoD authority.

DARPA/TTO Overview
Mr. Paul Eremenko, Acting Director Tactical Technology Office
Briefing prepared for Robotics Challenge Proposers Day April 16, 2012
Photo: DARPA

4/16/2012

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DARPA
1 9 5 7 1 9 5 8
First orbiting satellite. The satellite was not a threat, but the level of technology indicated that the Soviet Union possessed superior capability for intercontinental reconnaissance and bombing. 34th President of the United States 1953-1961. Coined the term military-industrial complex and warned against its unwarranted influence. Created DARPA in response to Sputnik.

Sputnik

Dwight D. Eisenhower

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Mission
The Defense Advanced Research Projects Agency (DARPA) was established in 1958 to prevent strategic surprise from negatively impacting U.S. national security and create strategic surprise for U.S. adversaries by maintaining the technological superiority of the U.S. military. To fulfill its mission, the Agency relies on diverse performers to apply multi-disciplinary approaches to both advance knowledge through basic research and create innovative technologies that address current practical problems through applied research. As the DoDs primary innovation engine, DARPA undertakes projects that are finite in duration but that create lasting revolutionary change.

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Idea leadership culture

Create and prevent strategic surprise

Lean, agile risk-taking organization

Idea-driven and outcome-oriented

Demonstrate solution concepts

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Impossible ideas become real life at DARPA

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Spaceflight
1 8 6 5 1 9 5 7 1 9 6 7

Books

DARPA: F1 engine

Saturn V

Photo: http://moonbooks.net 4/16/2012 Distribution Statement A (Approved for Public Release, Distribution Unlimited). 14

Wireless communications
1 9 6 6 1 9 8 0 s 1 9 8 6

Television

DARPA: research

Cellular phone

Photo: http://www.globalnerdy.com

Photo: http://www.wired.com

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The internet
1 9 6 9 1 9 6 9 2 0 1 0

Fictional access news and personal communication on tablet devices.

Original ARPAnet for remotely sharing large volumes of data.

News and personal communication available on tablet devices.

Photo: http://www.mercurybrief.com/ 2010/01/kubrick-slates-tablets-2001-film/

Photo: http://www.surfmobee.com

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Stealth
1 9 7 6 1 9 7 8 1 9 9 1

Hopeless diamond concept rejected by U.S. Air Force

DARPA sponsored flight technology demonstrator to improve survivability of a single aircraft against a modern IADS

Combined with precise weapons against C2 targets to improve survivability for all forces in Desert Storm

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Global Positioning System

1 9 6 3 1 9 9 0 s 2 0 1 0

DARPA Transit 2A satellite pioneered doppler navigation for specific military missions.

Became global precision navigation technology for military and civilian use.

Continued military and commercial refinement for tactical applications

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Surveillance UAVs
1 9 8 6 1 9 9 7 2 0 0 9

DARPA flight technology demonstrator to prove the feasibility of the technology; shelved because it did not fit into prevailing air operations thinking.

Rapidly adopted and matured to counter new threats more effectively than existing platforms and doctrine could.

Photo: General Atomics

Photo: General Atomics

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Automation
1 9 2 7 2 0 1 1 2 0 X X

Movies

DARPA: Autonomous Robotics Manipulation

Image: http://www.jeffbots.com/maria.html 4/16/2012 Distribution Statement A (Approved for Public Release, Distribution Unlimited). 20

Multi-mode mobility
1 9 6 2 2 0 1 0 2 0 X X

Books

Research

Image: http://www.tomswift.info

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Continuous accomplishment
Space Launch and Navigation

The Internet RF Stealth Synthetic Aperture Radar GPS Autonomous Systems

X-Planes

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Organization

AEO
Adaptive Execution Office
Agile Programs with Frequent Development Cycles Conduct Systematic Rigorous Assessments Explore New Contracting Approaches Develop Strong Relationships

DSO
Defense Sciences Office
Physical Sciences Materials Mathematics Training & Human Effectiveness Biological Warfare Defense Biology

I2O
Information Innovation Office
Global ISR Cyber Social Networks
Computational Social Science

MTO
Microsystems Technology Office
Basic Science Core Devices Integration Power
Architectures

STO
Strategic Technology Office
Comms & Networks Global Tactical ISR Energy Hybrid Warfare

TTO
Tactical Technology Office
Space Systems & Space Awareness Hypersonics Space Access Aero- & Hydrodynamic Systems Ground & Soldier Systems Design Synthesis Manufacturing Qualification/V&V Autonomy

Language Transparency Edge Finding Training/ Education

Application

Extreme Environments

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Professional reach Flat organization

Little hierarchy to ensure the free and rapid flow of information, ideas, and decisions.

Outstanding program managers

DARPA hires creative, independent people with big ideas and empowers them.

Project-based assignments
Projects organized around a challenge model and typically last three to five years; longer if necessary to facilitate transition.

No DARPA labs
Majority of the research is sponsored in industry and universities with a small amount in government labs.

Flexible outsourcing of staff and performers

Great talents and ideas from industry, universities, and government labs with technical, contracting, and administrative services from other commercial and government agencies.

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www.darpa.mil

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DARPA Robotics Challenge

Proposers Day April 16th, 2012 Dr. Gill A. Pratt, Program Manager

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Recent Disasters

Katrina - 2005

Deepwater Horizon 2010

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Fukushima - 2011

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Inspiration and Goals

1.

Man-Computer Symbiosis
J. C. R. Licklider (head of DARPA IPTO 1962) IRE Transactions on Human Factors in Electronics, volume HFE-1, pages 4-11, March 1960

Target disaster response in dangerous environments, and important DoD capability for HADR (Humanitarian Assistance and Disaster Relief) missions

2.

Advance supervised autonomy, mobility, manipulation, and energetic efficiency.

3.

Catalyze the robotics industry by developing a validated, real-time, operator-interactive simulator.

Fukushima - 2011
close study of the disasters first 24 hours, before the cascade of failures carried reactor 1 beyond any hope of salvation, reveals clear inflection points where minor differences would have prevented events from spiraling out of control. IEEE Spectrum, November 2011 pg. 36.

4.

Welcome a wide range of international contributors including traditional and nontraditional DARPA performers from a variety of fields.
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Why emphasize human-like robot capabilities?

1. Environment, even degraded, has been engineered for humans

2. No shortage of human tools, from hand tools to vehicles

3. Human-like robot capabilities are easier for domain experts to understand and untrained operators to control

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Supervisory Autonomy and Predictive Models

High Fidelity Interface Low Fidelity Interface Variable Fidelity Interface

Human Human

Environment Environment Environment

Human Human Human Human

Predictive Model

Decouple

Tele-op Robot Tele-op Robot

Predictive Model

Environment

Predictive Model

Sprv. Auto Robot Sprv. Auto Robot

Environment

Decouple

Predictive Model

Environment

DARPA Challenge
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Questions this Program will Address 4. Tasks and Metrics

Human

Predictive Model

Sprv. Auto Robot

1. What kind of I/O 2. What kind of messages 3. What autonomy, mobility, manipulation, energetics
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Example Disaster Challenge Scenario

Capabilities
Autonomy Decision-making Autonomy - Perception

Dismounted Mobility

Mounted Mobility

Dexterity

1. Drive utility vehicle to site 2. Travel dismounted across rubble 3. Remove debris blocking entryway 4. Open door, enter building

X X X X X X X X

X X X X X

X X X X X X X X X X X X 32 X X X X

Tasks

5. Climb industrial ladder, traverse industrial walkway 6. Use tool to break through concrete panel 7. Locate and close valve near leaking pipe 8. Replace component

X X X

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Strength

Endurance

Planned Tasks subject to change

Task 1 - Drive a utility vehicle to the site The robot must demonstrate mounted mobility by ingress to the vehicle, driving it on a road, and egress from the vehicle. The robot must also demonstrate manipulation by operating the controls, including steering, throttle, brakes, and ignition. The robot must steer, accelerate, and brake. Task 2 -Travel dismounted across rubble The robot must demonstrate dismounted mobility by crossing terrain ranging from smooth and level, to rough and sloped, with some loose soil and rocks. This terrain will be easily traversable by a human. Task 3 - Remove debris blocking an entryway The robot must demonstrate the dexterity and strength to move an object blocking an entryway. The object will have size, weight, and other properties to be movable either by a person or by the GFE Platform. The object mass is expected not to exceed 5 kg. Task 4 - Open a door and enter a building The robot must demonstrate the dexterity to operate a door handle and the strength to push the door open. 33
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Planned Tasks (cont.) subject to change

Task 5 - Climb an industrial ladder and traverse an industrial walkway The robot must demonstrate dismounted mobility to traverse an industrial elevated walkway. It is expected that the walkway (or catwalk) will have a grated surface and handrails. Task 6 - Use a tool to break through a concrete panel The robot must demonstrate using a power tool to perform forceful manipulation. The power tool is expected to be an air or electric impact hammer and chisel, or an electric reciprocating saw. Task 7 - Locate and close valve near leaking pipe The robot must demonstrate the perception ability to find a leaking pipe and a nearby valve, the dismounted mobility to approach the valve, and the manipulation ability to close the valve Task 8 - Replace cooling pump The robot must demonstrate the perception ability to locate the pump, the manipulation ability to loosen one or more fasteners, and the bi-manual manipulation ability to extract and replace the pump.
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Participation Options

Track A - Funded Teams design and build platform systems to participate in Disaster Response Challenge. Track B Teams develop algorithms using DARPA provided Simulator. Disaster Virtual Challenge conducted to identify which teams will be provided GFE Robot and additional funding to participate in Disaster Response Challenge Track C Unfunded teams use Simulator to and develop algorithms and participate in Disaster Virtual Challenge and will compete along with Track B teams for GFE Robot and funding award Track D Unfunded teams develop platforms to compete in Disaster Response Challenges

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Planned Schedule and Funding

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Planned Program Funding

The program has planned the following funding for teams. This plan is subject to change depending on the number of qualified teams and available resources. Phase 1 Track A: Up to $3M for each team (up to five (5) teams for fifteen (15) months). Track B: first nine (9) months through the Virtual Disaster Response Challenge: Up to $375k for each team, with up to twelve (12) teams. Track B/Track C: last six (6) months after the Virtual Disaster Response Challenge: Up to $750k additional for each team, with up to six (6) teams. Phase 2 Up to $1M for up to eight (8) of the top performing teams from the first physical disaster challenge. Prize Anticipated to be $2M to a single team.
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Planned Key Dates May 31, 2012 BAA Closing October 2012 Anticipated Contract Awards/Program Kickoff June 2013 Virtual Disaster Response Challenge December 2013 Disaster Response Challenge #1 December 2014 Disaster Response Challenge #2

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www.darpa.mil

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BAA Process
Mr. Chris Glista DARPA Contracts Management Office

DARPA Robotics Challenge Proposers Day April 16, 2012

Distribution Statement A

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BAA Specifics BAA and any amendments posted in FEDBIZOPPS BAA covers all info needed to propose TIME PERIOD BAA is open until May 31, 2012 Instructions are detailed in the BAA (Follow closely) Following the proposal instructions assists the evaluation team to clearly understand what is being proposed and supports a timely negotiation. ALL questions to DARPA-BAA-12-39@darpa.mil

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BAA Background

Federal Acquisition Regulation (FAR) Part 35 http://farsite.hill.af.mil A general announcement of an agencys research interest including criteria for selecting proposals of all offerors capable of satisfying the Governments needs. For the acquisition of basic and applied research not related to the development of a specific system or hardware procurement.

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BAA Background (cont.)

Used when proposals with varying technical and scientific approaches can be expected Proposals need not be evaluated against one another since they are not submitted in accordance with a common work statement. Primary basis for selecting proposals shall be technical, importance to agency programs, and fund availability. Cost realism shall also be considered

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BAA Background (cont.)

Contractors SHALL NOT subcontract technical or scientific work without the contracting officers knowledge

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IMPLICATIONS

FAR PART 15 Contracting By Negotiation does not apply in full

No competitive range determination No mandatory discussions No opportunity for proposal revision

Cost and Pricing Data (certification required for all FAR-based contract proposals greater than $700K) Subcontract consent and key personnel clauses to be included in awards
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Communications ALL questions to DARPA-BAA-12-39@darpa.mil After Receipt of Proposals Government (PM/PCO) may communicate with proposers to understand the meaning of some aspect of the proposal that is not clear or to obtain confirmation or substantiation of a proposed approach, solution, or cost estimate Informal feedback may be provided once selection(s) are made no ranking provided

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Distribution Statement A

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Applicant Eligibility All interested/qualified sources may respond International participants/resources may participate to the extent authorized by applicable Security Regulations, Export Laws, etc. Small Business Participation Encouraged, Teaming Not Required

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Applicant Eligibility (cont.) Government agencies/labs, FFRDCs cannot propose to this BAA in any capacity, UNLESS they can clearly demonstrate the work is not otherwise available from the private sector AND they also provide written documentation citing the specific statutory authority (as well as, where relevant, contractual authority) establishing their eligibility to propose to government solicitations

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Organizational Conflict of Interest All facts relative to a potential conflict of interest must be disclosed. Examples of conflicts listed at FAR Part 9.505 Provided Systems Engineering and Technical Direction Contractors MAY NOT simultaneously provide SETA support and be a technical performer at DARPA without waiver approved by DARPA Director

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Award Type

Award Instrument
Contract, Grant, Cooperative Agreement, Other Transaction
http://farsite.hill.af.mil/ (FAR Contracts) http://www.dtic.mil/whs/directives/corres/html/321006r.htm (Grants, Cooperative Agreements) www.acq.osd.mil/dpap/Docs/otguide.doc (Other Transactions)

In all cases the Contracting Officer shall have sole discretion to select award type instrument

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Rights to Technical Data and Computer Software

Assert rights to all technical data & computer software generated, developed, and/or delivered to which the Government will receive less than Unlimited Rights Assertions apply to Prime and Subs Justify Basis of Assertion Use defined Basis of Assertion and Rights Category Assessed during evaluation under the Potential to Accomplish Technology Transition Evaluation Factor

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Atlas Robot Overview for DARPA Robotics Challenge

Robert Playter Marc Raibert
April 16, 2012

Atlas Overview Near copy of PETMAN/Atlas 50th percentile male anthropometry 27 actuated, hydraulic DOFs 2 on-board computers Power tether Sensing head Modular wrist Protective shells

Current Performance

PETMAN Video

Robot Degrees of Freedom (DOF)

27 Active DOFs
NECK: 2 DOF BACK: 3 DOF SHOULDER: 3 DOF ELBOW: 1 DOF WRIST: 2 DOF HIP: 3 DOF KNEE: 1 DOF ANKLE: 1 DOF

Hands attach through modular wrist

Mechanical interface Electrical & data interface

Actuator Design Targets

Derived RoM in degrees Joint hip knee ankle mid foot back neck shoulder elbow wrist DoF 3 1 2 n/a 3 3 3 1 3
Adduction/Abduction ( rx) Flexion/Extension ( ry) Internal/Medial Rotation ( rz)

min -30

max 30

range 60

min -100 0 -40 -35 -45 -90 -135

max 20 135 40 25 45 50 0

range 120 135 80 60 90 140 135

min -10

max 70

range 80

-40 0 -30

40 115 60

80 115 90

-45 -90 -40 -85

45 90 100 85

90 180 140 170

Joint hip knee ankle mid foot back neck shoulder elbow wrist

DoF 3 1 2 0 3 3 3 1 3

Derived Strengths in Newton-Meters Adduction/Abduction (rx) Flexion/Extension (ry) Internal/Medial Rotation (rz) Strength Strength Strength 180 260 110 220 220 Passive Flexure 100 180 110 25 54 110 110 80 100 30 15

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Robot Weight Estimates

Weight estimate for current design: 178 lbs
3% 7%

Pelvis & Leg Torso & Back Arm & Hand Head & Neck Hoses & Cables Skin Misc. Hardware

COMPONENT Pelvis & Leg Torso & Back Arm & Hand Head & Neck Hoses & Cables Skin Misc. Hardware Fluid (Oil/Water) ROBOT TOTAL Power Plant TOTAL

MASS [KG] 30.7 9.8 10.2 1.8 3.4 17.0 5.5 2.5 81 22.0 103

MASS [LBS] 67.7 21.5 22.6 4.0 7.6 37.5 12.1 5.6 178 48.5 227
13% 4% 2% 21%

Fluid (Oil/Water)

38%

12%

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Power Tether
Tether
Electric power Cooling water

Power Pack

Laboratory Electrical Power

Cooling Water

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Robot Computing Architecture

GigE WIFI

User Computer

GigE Sensors CANbus CANbus

Actuators (27) Joint Sensors Hands

- IMU - LIDAR - Stereo Cameras

Robot Computer

Mr. Nate Koenig Open Source Robotics Foundation, Inc.

Simulation for robots

Focus on accurate physical simulation
Easy transition to and from simulation Remove hardware issues and resource constraints

Support common robot control software

Custom client code ROS interface Player interface

Support sharing of resources

New sensors, actuators, models, and environments

Additional Benefits
No real-time constraints
Simulate faster than real time

Regression testing
Use simulation for automated tests

Universal test environment

Create benchmarks Run a competition

Flexibility
Handles a wide range of environments and tasks Thin programmatic layer to Gazebo functionality

Architecture

Physics

Visualization

Interfaces

Rigid Body Dynamics

ODE Bullet

OpenGL
OGRE

Plugins and IPC

Google Protobuf Boost

Robot Models

Simple platforms
Built-in shapes Mesh skinning

Realistic physical properties Full sensor suite

Meshes as collision objects Mass and inertia properties Surface friction 6 joint types Laser range finders Mono/Stereo cameras Kinect Contact Joint force/torques

Environments
Simple
Focused scenario Manipulation Perception

Indoor
Path planning Mobile manipulation Clone real environment

Aerial robots Outdoor mobile and legged robots

Outdoor

Show video with next slide Presenter will talk to it

Gazebo Demo
Part 1: Canyon fly-through Custom terrain generated from a greyscale image Animated quadrotor
Thanks to Johannes Meyer and Stefan Kohlbrecher

Part 2: Pioneer2dx and office environment Player interface used to drive the Pioneer2dx Laser range finder sensor visualization Part 3: PR2 and YouBot PR2 object manipulation using ROS Interactive markers Part 4: Character animation Experimental animation of characters using skeletons
Thanks to Mihai Dohla

Tools
Command line tools
System inspection Insert and remove models

Graphical tools
Model placement Joint and mass visualizations Sensor visualizations

Resources
Robot models
Distributed in Gazebo Work in progress Online model database Graphical model builder

Environments
Distributed in Gazebo Google's 3D warehouse Google Sketchup or Blender

Help
http://gazebosim.org

Roadmap
Bullet integration Multi-floor structures Sonar, force-torque, pressure sensors Friction and noise models Hardware in the loop Deformable objects

1.2

1.4

1.6

2.0

Vehicles Tools Outdoor environments Cluster support

Customize GUI API Large environments Vehicle suspension models

Community
Support and Contributing
http://gazebosim.org/support.html

Wiki
http://gazebosim.org/wiki

Kforge project
https://kforge.ros.org/projects/gazebo/

Thank you
Physics Lead John Hsu Core Contributor Mihai Dolha
Contributors
Christian Gagneraud Brian Gerkey Stefan Kohlbrecher Johannes Meyer Alexis Maldonado Jordi Polo Abbas Sadat Richard Vaughan

Co-Founder: Retired Andrew Howard

DARPA Robotics Challenge Proposers Day

We are on a temporary break and will be back shortly

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DARPA Robotics Challenge Proposers Day

Q&A Response

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DARPA Robotics Challenge Proposers Day

Adjourn

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