Summary of Team IHMC's virtual robotics challenge entry

This paper presents a high level overview of the work done by Team IHMC (Florida Institute for Human and Machine Cognition) to win the DARPA Virtual Robotics Challenge (VRC), held June 18–20 2013. The VRC consisted of a series of three tasks (driving a vehicle, walking over varied terrain, and manipulating a fire hose), to be completed in simulation using a model of the humanoid robot Atlas. Team IHMC was able to complete all of these challenges multiple times during the competition. The paper presents our approach, as well as a bird's-eye view of the major software components and their integration.