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
Distribution Statement A (Approved for Public Release, Distribution Unlimited).
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
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 DoDs 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
1 8 6 5 1 9 5 7 1 9 6 7
Books
DARPA: F1 engine
Saturn V
Photo: [Link] 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: [Link]
Photo: [Link]
4/16/2012
Distribution Statement A (Approved for Public Release, Distribution Unlimited).
15
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: [Link] 2010/01/kubrick-slates-tablets-2001-film/
Photo: [Link]
4/16/2012
Distribution Statement A (Approved for Public Release, Distribution Unlimited).
16
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
4/16/2012
Distribution Statement A (Approved for Public Release, Distribution Unlimited).
17
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
4/16/2012
Distribution Statement A (Approved for Public Release, Distribution Unlimited).
18
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
4/16/2012
Distribution Statement A (Approved for Public Release, Distribution Unlimited).
19
Automation
1 9 2 7 2 0 1 1 2 0 X X
Movies
DARPA: Autonomous Robotics Manipulation
Image: [Link] 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: [Link]
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
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
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
[Link]
4/16/2012
Distribution Statement A (Approved for Public Release, Distribution Unlimited).
25
DARPA Robotics Challenge
Proposers 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
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
Fukushima - 2011
27
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.
28
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
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 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
30
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
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
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited) 31
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
Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
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
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
[Link]
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 DARPA-BAA-12-39@[Link]
4/16/12
Distribution Statement A
41
BAA Background
Federal Acquisition Regulation (FAR) Part 35 [Link] 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.
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 officers 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 DARPA-BAA-12-39@[Link] 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
[Link] (FAR Contracts) [Link] (Grants, Cooperative Agreements) [Link]/dpap/Docs/[Link] (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 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
56
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%
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) 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
[Link]
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
[Link]
Wiki
[Link]
Kforge project
[Link]
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
78
DARPA Robotics Challenge Proposers Day
Q&A Response
79
DARPA Robotics Challenge Proposers Day
Adjourn
80