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Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other planets. Suitable platforms require flexible and robust hardware, a locomotion approach that allows for navigating a wide variety of terrains, dexterous manipulation capabilities, and respective user interfaces. We present the CENTAURO system which has been designed for these requirements and consists of the Centauro robot and a set of advanced operator interfaces with complementary strength enabling the system to solve a wide range of realistic mobile manipulation tasks. The robot possesses a centaur-like body plan and is driven by torquecontrolled compliant actuators. Four articulated legs ending in steerable wheels allow for omnidirectional driving as well as for making steps. An anthropomorphic upper body with two arms ending in five-finger hands enables human-like manipulation. The robot perceives its environment through a suite of multimodal sensors. The resulting platform complexity goes beyond the complexity of most known systems which puts the focus on a suitable operator interface. An operator can control the robot through a telepresence suit, which allows for flexibly solving a large variety of mobile manipulation tasks. Locomotion and manipulation functionalities on different levels of autonomy support the operation. The proposed user interfaces enable solving a wide variety of tasks without previous task-specific training. The integrated system is evaluated in numerous teleoperated experiments that are described along with lessons learned. 3D laser scanner Cameras RGB-D sensor 7 DoF arm 9 DoF dexterous hand 1 DoF soft hand 5 DoF leg 360°steerable wheel Base with CPUs, router and battery Figure 1: The Centauro robot. IntroductionCapable mobile manipulation robots are desperately needed in environments which are inaccessible or dangerous for humans. Missions include construction and maintenance of manned and unmanned stations, as well as exploration of unknown environments on the moon and other planets. Furthermore, such systems can be employed in search and rescue missions on earth. It applies to all these missions that human deployment is impossible or dangerous, and depends on extensive logistical and financial effort.To address the wide range of possible tasks, a suitable platform needs to provide a wide range of capabilities. Regarding locomotion, exemplary tasks are to overcome a variety of obstacles which can occur on planetary surfaces and in man-made environments, e.g., in space stations. Regarding manipulation, tasks may be to use power tools, to physically connect and disconnect objects such as electrical plugs, or to scan surfaces, e.g., for radiation. Since maintenance is not possible during missions, a high hardware and software reliability is necessary. Furthermore, suitable operator interfaces are key to enable the control of a system that must solve suc...

Mobile manipulation robots have high potential to support rescue forces in disaster-response missions. Despite the difficulties imposed by real-world scenarios, robots are promising to perform mission tasks from a safe distance. In the CENTAURO project, we developed a disaster-response system which consists of the highly flexible Centauro robot and suitable control interfaces including an immersive telepresence suit and support-operator controls on different levels of autonomy.In this article, we give an overview of the final CENTAURO system. In particular, we explain several highlevel design decisions and how those were derived from requirements and extensive experience of Kerntechnische Hilfsdienst GmbH, Karlsruhe, Germany (KHG) 1 . We focus on components which were recently integrated and report about a systematic evaluation which demonstrated system capabilities and revealed valuable insights.

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