Abstract
Robots that solve complex tasks in environments too dangerous for humans to enter are desperately needed, e.g. for search and rescue applications. We describe our mobile manipulation robot Momaro, with which we participated successfully in the DARPA Robotics Challenge. It features a unique locomotion design with four legs ending in steerable wheels, which allows it both to drive omnidirectionally and to step over obstacles or climb. Furthermore, we present advanced communication and teleoperation approaches, which include immersive 3D visualization, and 6D tracking of operator head and arm motions. The proposed system is evaluated in the DARPA Robotics Challenge, the DLR SpaceBot Camp 2015, and lab experiments. We also discuss the lessons learned from the competitions and present initial steps towards autonomous operator assistance functions.
A version of this article was previously published in the Journal of Field Robotics, vol. 34, issue 2, pp. 400–425, Wiley 2017.
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Acknowledgements
This work was supported by the European Union’s Horizon 2020 Programme under Grant Agreement 644839 (CENTAURO) and by Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) under Grant No. SORA1413.
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Schwarz, M. et al. (2018). DRC Team NimbRo Rescue: Perception and Control for Centaur-Like Mobile Manipulation Robot Momaro. In: Spenko, M., Buerger, S., Iagnemma, K. (eds) The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue. Springer Tracts in Advanced Robotics, vol 121. Springer, Cham. https://doi.org/10.1007/978-3-319-74666-1_5
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