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The DARPA Robotics Challenge Finals: Results and Perspectives Read chapter Read first chapter

2018 | OriginalPaper | Chapter

DRC Team NimbRo Rescue: Perception and Control for Centaur-Like Mobile Manipulation Robot Momaro

Authors : Max Schwarz, Marius Beul, David Droeschel, Tobias Klamt, Christian Lenz, Dmytro Pavlichenko, Tobias Rodehutskors, Michael Schreiber, Nikita Araslanov, Ivan Ivanov, Jan Razlaw, Sebastian Schüller, David Schwarz, Angeliki Topalidou-Kyniazopoulou, Sven Behnke

Published in: The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue

Publisher: Springer International Publishing

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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.

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previous chapter Developing a Robust Disaster Response Robot: CHIMP and the Robotics Challenge
next chapter Team RoboSimian: Semi-autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals
Footnotes
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Metadata
Title
DRC Team NimbRo Rescue: Perception and Control for Centaur-Like Mobile Manipulation Robot Momaro
Authors
Max Schwarz
Marius Beul
David Droeschel
Tobias Klamt
Christian Lenz
Dmytro Pavlichenko
Tobias Rodehutskors
Michael Schreiber
Nikita Araslanov
Ivan Ivanov
Jan Razlaw
Sebastian Schüller
David Schwarz
Angeliki Topalidou-Kyniazopoulou
Sven Behnke
Copyright Year
2018
Book
The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue

Print ISBN: 978-3-319-74665-4

Electronic ISBN: 978-3-319-74666-1

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-74666-1_5