DRC team nimbro rescue: Perception and control for centaur-like mobile manipulation robot momaro
Springer Tracts in Advanced Robotics, ISSN: 1610-742X, Vol: 121, Page: 145-190
2018
- 14Citations
- 12Captures
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Book Chapter Description
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.
Bibliographic Details
http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=85045385976&origin=inward; http://dx.doi.org/10.1007/978-3-319-74666-1_5; http://link.springer.com/10.1007/978-3-319-74666-1_5; http://link.springer.com/content/pdf/10.1007/978-3-319-74666-1_5; https://doi.org/10.1007%2F978-3-319-74666-1_5; https://dx.doi.org/10.1007/978-3-319-74666-1_5; https://link.springer.com/chapter/10.1007/978-3-319-74666-1_5
Springer Science and Business Media LLC
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