Terrain
Terrain

Figure 2 shows the planned course layout for the Terrain task.  The start line is on the upper right of the figure, and the finish line is on the lower left.

The Terrain task consists of three sub-tasks:  (1) Traverse initial terrain segment (1 point), (2) Traverse middle terrain segment (1 point), and (3) Traverse final terrain segment (1 point).  Visible lines will mark the boundary between terrain segments:  the green line is the start line, the yellow line is the boundary between the initial and middle terrain segments, the orange line is the boundary between the middle and final terrain segments, and the red line is the boundary between the final terrain segment and the end zone.

For the first subtask, the robot begins entirely behind the green start line shown in the figure, crosses the pitch ramps and the chevron hurdle, and the yellow line shown in the figure.  The chevron hurdle is one block high, or about 15 cm (6 in).  This sub-task shall be considered complete when all contacts between the terrain and the robot (excepting the tether[1]) occur in the middle terrain segment, or in other words, when no terrain/robot contact occurs in the initial terrain segment.  Note that this sub-task shall be considered complete even though part of the robot, such as the rear-most “foot,” may be in the air and still above the initial terrain segment.

For the second sub-task, the robot crosses the flat-top steps and the orange line shown in the figure. This sub-task shall be considered complete when all contacts between the terrain and the robot (excepting the tether) occur in the final terrain segment, or in other words, when no terrain/robot contact occurs in the middle terrain segment. 

For the third sub-task, the robot crosses the angle-top steps and the red line shown in the figure.  This sub-task shall be considered complete when all contacts between the terrain and the robot (excepting the tether1) occur in the end zone, or in other words, when no terrain/robot contact occurs in the final terrain segment. 

The blocks will be laid out, as much as possible and practical, so that any holes face the side of the course rather than the start or end of the course.  The blocks will not be fastened to the ground.  Terrain may shift during a run.  Terrain that shifts will be restored to its initial state at the end of a run and during interventions.

If an intervention takes place during the first sub-task, the robot will be reset at the start of the course.  If an intervention takes place during the second sub-task, the robot will be reset at a place chosen by the team with ground contacts entirely in the initial terrain segment.  If an intervention takes place during the third sub-task, the robot will be reset at a place chosen by the team with ground contacts entirely in the middle terrain segment.

[1] It is expected that there will be a physical tether for the E-Stop function, independent of power and comms.

Task Schedule - Day 1

Start TimeEnd TimeBlueRed
8:009:15Chiron
9:1510:30Mojavaton
10:3011:45Team HKUTartan Rescue
12:301:45IHMC RoboticsDRC-Hubo
1:453:00TROOPERRoboSimian
3:004:15

 

Task Schedule - Day 2

Start TimeEnd TimeBlueRed
8:009:15Intelligent Pioneer
9:1510:30KAIST
10:3011:45MITNASA JSC
12:301:45ViGIRSCHAFT
1:453:00TRACLabsTHOR
3:004:15WRECS
 
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