This article is a summary of the experiences of the Florida Institute for Human & Machine Cognition (IHMC) team during the DARPA Robotics Challenge (DRC) Trials. The primary goal of the DRC is to develop robots capable of assisting humans in responding to natural and manmade disasters. The robots are expected to use standard tools and equipment to accomplish the mission. The DRC Trials consisted of eight different challenges that tested robot mobility, manipulation, and control under degraded communications and time constraints. Team IHMC competed using the Atlas humanoid robot made by Boston Dynamics. We competed against 16 international teams and placed second in the competition. This article discusses the challenges we faced in transitioning from simulation to hardware. It also discusses the lessons learned both during the competition and in the months of preparation leading up to it. The lessons address the value of reliable hardware and solid software practices. They also cover effective approaches to bipedal walking and designing for human‐robot teamwork. Lastly, the lessons present a philosophical discussion about choices related to designing robotic systems.

ver since the start of aviation, birds and airplanes have posed a mutual risk: Birds are killed when struck by aircraft, but, in return, bird strikes cause billions in damage to the aviation industry. Airports employ bird-control methods such as audiovisual deterrents (like scarecrows, lasers, and noise), weapons, and chemicals to relocate, suffocate, or otherwise terminate the birds [2]. While the latter methods work, they are ethically questionable. The problem of audiovisual deterrents is that they quickly lose effectiveness due to habituation. The approach that works consistently is the use of predator birds to scare off the prey birds and permanently relocate them away from runways. However, the predators themselves cannot be precisely controlled and, in turn, also pose a threat to airplanes.The Robird is a robotic bird mimicking a peregrine falcon in appearance, weight (730 g), size (112-cm wingspan), and flying speed / . 16 m s ^h Most importantly, the Robird is a flapping-wing aerial vehicle, mimicking the method of flight of a real falcon. The similarity in appearance and dynamics means that other birds cannot distinguish real falcons from the Robird. This allows the Robird to be used for effective and nature-friendly bird control. From a research perspective, the Robird is most interesting. Much is still unknown about how the Robird flies. The challenges lie in understanding its aerodynamics and improving its autonomy.