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The DARPA Robotics Challenge (DRC) requires teams to integrate mobility, manipulation, and perception to accomplish several disaster-response tasks. We describe our hardware choices and software architecture, which enable human-in-the-loop control of a 28 degree-of-freedom ATLAS humanoid robot over a limited bandwidth link. We discuss our methods, results, and lessons learned for the DRC Trials tasks. The effectiveness of our system architecture was demonstrated as the WPI-CMU DRC Team scored 11 out of a possible 32 points, ranked seventh (out of 16) at the DRC Trials, and was selected as a finalist for the DRC Finals. C 2014 Wiley Periodicals, Inc.

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