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
2 DARPA Robotics Challenge Proposers’ Day
Dr. Gill Pratt Program Manager, DARPA
3 DARPA Robotics Challenge Proposers’ Day Agenda
12:00PM-12:10PM Set up/Test Connection
12:10PM-12:15PM Introductory Remarks, OSTP Dr. John Holdren, Assistant to the President for Science and Technology and Director of Science and Technology Policy (OSTP) 12:15PM-12:25PM Introductory Remarks, Dr. Kaigham J. Gabriel, Acting Director, DARPA DARPA 12:25PM-12:40PM DARPA/TTO Overview Mr. Paul Eremenko, Acting Director/Deputy Director, DARPA TTO 12:40PM-1:40PM Robotics Challenge Overview Dr. Gill Pratt, Program Manager, DARPA
1:40PM-1:55PM Contracts Management Mr. Chris Glista, Contracting Officer, DARPA
1:55PM-2:10PM GFE Hardware Dr. Robert Playter, Boston Dynamics, Inc.
2:10PM-2:25PM GFE Software Mr. Nate Koenig, Open Source Robotics Foundation, Inc. 2:25PM-2:45PM Break
2:45PM-3:15PM Q/A Response
3:15PM Adjourn
4 Introductory Remarks, OSTP
Dr. John Holdren Assistant to the President for Science and Technology and Director, Office of Science and Technology Policy (OSTP)
5 Dr. John Holdren VIDEO
4/16/2012 Further dissemination only as directed by DARPA Public Release Center or higher DoD authority. 6 Introductory Remarks, DARPA
Dr. Kaigham J. Gabriel Acting Director, DARPA
7 Dr. Kaigham J. Gabriel VIDEO
4/16/2012 Further dissemination only as directed by DARPA Public Release Center or higher DoD authority. 8 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 Distribution Statement “A” (Approved for Public Release, Distribution Unlimited). 9 DARPA
1957 1958
First orbiting satellite. The satellite was not a 34th President of the United States 1953-1961. threat, but the level of technology indicated that Coined the term “military-industrial complex” the Soviet Union possessed superior capability for and warned against its unwarranted influence. intercontinental reconnaissance and bombing. Created DARPA in response to Sputnik.
Sputnik Dwight D. Eisenhower
4/16/2012 Distribution Statement “A” (Approved for Public Release, Distribution Unlimited). 10 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 DoD’s primary innovation engine, DARPA undertakes projects that are finite in duration but that create lasting revolutionary change.
4/16/2012 Distribution Statement “A” (Approved for Public Release, Distribution Unlimited). 11 Idea leadership culture
► Create and prevent strategic surprise
► Lean, agile risk-taking organization
► Idea-driven and outcome-oriented
► Demonstrate solution concepts
4/16/2012 Distribution Statement “A” (Approved for Public Release, Distribution Unlimited). 12 “Impossible” ideas become real life at DARPA
4/16/2012 Distribution Statement “A” (Approved for Public Release, Distribution Unlimited). 13 Spaceflight
1865 1957 1967 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
1966 1980’s 1986
Television DARPA: research Cellular phone
Photo: http://www.globalnerdy.com Photo: http://www.wired.com
4/16/2012 Distribution Statement “A” (Approved for Public Release, Distribution Unlimited). 15 The internet
1969 1969 2010
Fictional access news and personal Original ARPAnet for remotely News and personal communication communication on tablet devices. sharing large volumes of data. available on tablet devices.
Photo: http://www.mercurybrief.com/ Photo: http://www.surfmobee.com 2010/01/kubrick-slates-tablets-2001-film/
4/16/2012 Distribution Statement “A” (Approved for Public Release, Distribution Unlimited). 16 “Stealth”
1976 1978 1991
“Hopeless diamond” concept DARPA sponsored flight technology Combined with precise weapons rejected by U.S. Air Force demonstrator to improve survivability of against C2 targets to improve a single aircraft against a modern IADS survivability for all forces in Desert Storm
4/16/2012 Distribution Statement “A” (Approved for Public Release, Distribution Unlimited). 17 Global Positioning System
1963 1990’s 2010 DARPA Transit 2A satellite Became global precision Continued military and pioneered doppler navigation navigation technology for commercial refinement for for specific military missions. military and civilian use. tactical applications
4/16/2012 Distribution Statement “A” (Approved for Public Release, Distribution Unlimited). 18 Surveillance UAV’s
1986 1997 - 2009 DARPA flight technology demonstrator to prove the Rapidly adopted and matured to counter feasibility of the technology; shelved because it did new threats more effectively than existing not fit into prevailing air operations thinking. platforms and doctrine could.
Photo: General Atomics
Photo: General Atomics
4/16/2012 Distribution Statement “A” (Approved for Public Release, Distribution Unlimited). 19 Automation
1927 2011 20XX 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
1962 2010 20XX Books Research
Image: http://www.tomswift.info
4/16/2012 Distribution Statement “A” (Approved for Public Release, Distribution Unlimited). 21 Continuous accomplishment
Space Launch and Navigation The Internet RF Stealth Synthetic Aperture Radar GPS
Autonomous Systems
“X”-Planes
4/16/2012 Distribution Statement “A” (Approved for Public Release, Distribution Unlimited). 22 Organization
AEO DSO I2O MTO STO TTO Adaptive Defense Information Microsystems Strategic Tactical Execution Sciences Innovation Technology Technology Technology Office Office Office Office Office Office
• Agile • Physical • Global ISR • Basic Science • Comms & • Space Systems & Programs with Sciences Core Networks Space Awareness
Frequent • Cyber • Hypersonics Development • Materials • Devices • Global Cycles • Social Networks Tactical ISR • Space Access
• Mathematics • Integration • Aero- & • Conduct • Computational • Energy Hydrodynamic Systematic • Training & Social Science • Power Systems Rigorous Human • Hybrid Assessments • Ground & Soldier • Effectiveness • Language • Architectures Warfare Systems
Transparency • • Explore New • Design Synthesis • Application • Extreme Contracting • Biological • Edge Finding Environments Approaches Warfare • Manufacturing
Defense • Training/ • Qualification/V&V Develop • Education Strong • Biology • Autonomy Relationships
4/16/2012 Distribution Statement “A” (Approved for Public Release, Distribution Unlimited). 23 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.
4/16/2012 Distribution Statement “A” (Approved for Public Release, Distribution Unlimited). 24 www.darpa.mil
4/16/2012 Distribution Statement “A” (Approved for Public Release, Distribution Unlimited). 25
DARPA Robotics Challenge Proposer’s Day April 16th, 2012 Dr. Gill A. Pratt, Program Manager
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited) 26 Recent Disasters
Katrina - 2005 Deepwater Horizon 2010
Fukushima - 2011 Distribution Statement "A" (Approved for Public Release, Distribution Unlimited) 27 Man-Computer Symbiosis J. C. R. Licklider (head of DARPA IPTO 1962) Inspiration and Goals IRE Transactions on Human Factors in Electronics, volume HFE-1, pages 4-11, March 1960
1. 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 Fukushima - 2011 simulator.
“… close study of the disaster’s first 24 hours, 4. Welcome a wide range of international before the cascade of failures carried reactor 1 beyond any hope of salvation, reveals clear contributors including traditional and non- inflection points where minor differences would have prevented events from spiraling out of traditional DARPA performers from a variety of control.” IEEE Spectrum, November 2011 pg. 36. fields.
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited) 28 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
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited) 29 Supervisory Autonomy and Predictive Models
High Fidelity Interface Low Fidelity Interface Human Environment Variable Fidelity Interface Human Environment
Predictive Decouple Human Model Tele-op Environment Robot
Predictive Tele-op Human Model Environment Robot
Predictive Human Model Sprv. Auto Environment Robot Decouple
Predictive Sprv. Auto DARPA Human Environment Model Robot Challenge
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited) 30 Questions this Program will Address
4. Tasks and Metrics
Predictive Sprv. Auto Human Model Robot
1. What kind of I/O
2. What kind of messages
3. What autonomy, mobility, manipulation, energetics
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited) 31 Example Disaster Challenge Scenario
Capabilities
making -
Decision Perception
- –
Autonomy Autonomy Autonomy Endurance Mounted MobilityMounted Dismounted Mobility Dexterity Strength 1. Drive utility vehicle to site X X X X 2. Travel dismounted across rubble X X X 3. Remove debris blocking entryway X X X X X 4. Open door, enter building X X X X
5. Climb industrial ladder, traverse industrial walkway X X X 6. Use tool to break through concrete panel X X X X X Tasks 7. Locate and close valve near leaking pipe X X X X X X 8. Replace component X X X
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited) 32 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 Distribution Statement "A" (Approved for Public Release, Distribution Unlimited) 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. Distribution Statement "A" (Approved for Public Release, Distribution Unlimited) 34 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
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited) 35 Planned Schedule and Funding
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited) 36 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.
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited) 37 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
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited) 38 www.darpa.mil
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited) 39 BAA Process
Mr. Chris Glista DARPA Contracts Management Office
DARPA Robotics Challenge Proposers’ Day
April 16, 2012
Distribution Statement A 40 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 [email protected]
4/16/12 Distribution Statement A 41 BAA Background
• Federal Acquisition Regulation (FAR) Part 35 http://farsite.hill.af.mil • “A general announcement of an agency’s research interest including criteria for selecting proposals of all offerors capable of satisfying the Government’s needs.” • For the acquisition of basic and applied research not related to the development of a specific system or hardware procurement.
4/16/12 Distribution Statement A 42 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
4/16/12 Distribution Statement A 43 BAA Background (cont.)
• Contractors SHALL NOT subcontract technical or scientific work without the contracting officer’s knowledge
4/16/12 Distribution Statement A 44 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
4/16/12 Distribution Statement A 45 Communications
• ALL questions to [email protected]
• 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
4/16/12 Distribution Statement A 46 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
4/16/12 Distribution Statement A 47 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
4/16/12 Distribution Statement A 48 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
4/16/12 Distribution Statement A 49 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
4/16/12 Distribution Statement 50 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
4/16/12 Distribution Statement A 51 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 DOF’s • 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 DoF Adduction/Abduction (° rx) Flexion/Extension (° ry) Internal/Medial Rotation (° rz) min max range min max range min max range hip 3 -30 30 60 -100 20 120 -10 70 80 knee 1 0 135 135 ankle 2 -40 40 80 mid foot n/a back 3 -40 40 80 -35 25 60 -45 45 90 neck 3 -45 45 90 -90 90 180 shoulder 3 0 115 115 -90 50 140 -40 100 140 elbow 1 -135 0 135 wrist 3 -30 60 90 -85 85 170
Derived Strengths in Newton-Meters Joint DoF Adduction/Abduction (rx) Flexion/Extension (ry) Internal/Medial Rotation (rz) Strength Strength Strength hip 3 180 260 110 knee 1 220 ankle 2 220 mid foot 0 Passive Flexure back 3 100 180 110 neck 3 25 54 shoulder 3 110 110 80 elbow 1 100 wrist 3 30 15
56 Robot Weight Estimates
• Weight estimate for current design: 178 lbs 3% Pelvis & Leg 7% Torso & Back MASS MASS Arm & Hand COMPONENT [KG] [LBS] Head & Neck Pelvis & Leg 30.7 67.7 Hoses & Cables Torso & Back 9.8 21.5 Skin Misc. Hardware Arm & Hand 10.2 22.6 21% Fluid (Oil/Water) Head & Neck 1.8 4.0 Hoses & Cables 3.4 7.6 Skin 17.0 37.5 Misc. Hardware 5.5 12.1 38% Fluid (Oil/Water) 2.5 5.6 ROBOT TOTAL 81 178 4%
Power Plant 22.0 48.5 2% TOTAL 103 227 13% 12%
57 Power Tether
• Tether – Electric power – Cooling water Power Pack
Laboratory Electrical Power
Cooling Water
58 Robot Computing Architecture
GigE WIFI
User Computer
GigE
Sensors CANbus CANbus Actuators (27) - IMU Robot Computer Joint Sensors - LIDAR Hands - Stereo Cameras 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 OpenGL Plugins and IPC ODE OGRE Google Protobuf Bullet Boost Robot Models
Simple platforms Realistic physical properties Full sensor suite Built-in shapes Meshes as collision objects Laser range finders Mesh skinning Mass and inertia properties Mono/Stereo cameras Surface friction Kinect 6 joint types 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 Friction and noise models Multi-floor structures Hardware in the loop Sonar, force-torque, pressure Deformable objects sensors 1.2 1.4 1.6 2.0
Vehicles Customize GUI API Tools Large environments Outdoor environments Vehicle suspension models Cluster support 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 Contributors Christian Gagneraud Brian Gerkey John Hsu Stefan Kohlbrecher Johannes Meyer Alexis Maldonado Jordi Polo Abbas Sadat Core Contributor Richard Vaughan
Mihai Dolha
Co-Founder: Retired Andrew Howard DARPA Robotics Challenge Proposers’ Day
We are on a temporary break and will be back shortly
78 DARPA Robotics Challenge Proposers’ Day
Q&A Response
79 DARPA Robotics Challenge Proposers’ Day
Adjourn
80