NimbRo Rescue: Solving Disaster-response Tasks with the Mobile Manipulation Robot Momaro

@article{Schwarz2017NimbRoRS,
  title={NimbRo Rescue: Solving Disaster-response Tasks with the Mobile Manipulation Robot Momaro},
  author={Max Schwarz and Tobias Rodehutskors and David Droeschel and Marius Beul and Michael Schreiber and Nikita Araslanov and Ivan Ivanov and Christian Lenz and Jan Razlaw and Sebastian Sch{\"u}ller and David Schwarz and Angeliki Topalidou-Kyniazopoulou and Sven Behnke},
  journal={J. Field Robotics},
  year={2017},
  volume={34},
  pages={400-425}
}
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… CONTINUE READING
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