In this work, we present WALK-MAN, a humanoid platform that has been developed to operate in realistic unstructured environment, and demonstrate new skills including powerful manipulation, robust balanced locomotion, high-strength capabilities, and physical sturdiness. To enable these capabilities, WALK-MAN design and actuation are based on the most recent advancements of series elastic actuator drives with unique performance features that differentiate the robot from previous state-of-the-art compliant actuated robots. Physical interaction performance is benefited by both active and passive adaptation, thanks to WALK-MAN actuation that combines customized high-performance modules with tuned torque/velocity curves and transmission elasticity for high-speed adaptation response and motion reactions to disturbances. WALK-MAN design also includes innovative design optimization features that consider the selection of kinematic structure and the placement of the actuators with the body structure to maximize the robot performance. Physical robustness is ensured with the integration of elastic transmission, proprioceptive sensing, and control. The WALK-MAN hardware was designed and built in 11 months, and the prototype of the robot was ready four months before DARPA Robotics Challenge (DRC) Finals. The motion generation of WALK-MAN is based on the unified motion-generation framework of whole-body locomotion and manipulation (termed loco-manipulation). WALK-MAN is able to execute simple loco-manipulation behaviors synthesized by combining different primitives defining the behavior of the center of gravity, the motion of the hands, legs, and head, the body attitude and posture, and the constrained body parts such as joint limits and contacts. The motion-generation framework including the specific motion modules and software architecture is discussed in detail. A rich perception system allows the robot to perceive and generate 3D representations of the environment as well as detect contacts and sense physical interaction force and moments. The operator station that pilots use to control the robot provides a rich pilot interface with different control modes and a number of teleoperated or semiautonomous command features. The capability of the robot and the performance of the individual motion control and perception modules were validated during the DRC in which the robot was able to demonstrate exceptional physical resilience and execute some of the tasks during the competition

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Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy efficiency in legged robotic systems, this paper provides an overview on recent advancements in development of such platforms. The covered different perspectives include actuation, leg structure, control and locomotion principles. We review various robotic actuators exploiting compliance in series and in parallel with the drive-train to permit energy recycling during locomotion. We discuss the importance of limb segmentation under efficiency aspects and with respect to design, dynamics analysis and control of legged robots. This paper also reviews a number of control approaches allowing for energy efficient locomotion of robots by exploiting the natural dynamics of the system, and by utilizing optimal control approaches targeting locomotion expenditure. To this end, a set of locomotion principles elaborating on models for energetics, dynamics, and of the systems is studied.

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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