IHMC’s Nadia humanoid robot can not only play ping pong, but also autonomously open doors. It manages to achieve this feat by utilizing GPU accelerated perception and a tree based interactive behavior coordination system with a whole body motion as well as a walking controller.
This system is capable of performing door traversals on a variety of door types, while also supporting rapid authoring of behaviors for unseen door types and techniques to achieve re-usability of those authored behaviors. These behaviors were then modeled using trees and feature logical reactivity, along with action sequences, that can be executed with layered concurrency to increase speed.
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Primitive actions are built on top of our existing whole body controller which supports manipulation while walking. We include a perception system using both neural networks and classical computer vision for door mechanism detection outside of the lab environment,” said the researchers.
