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

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

doi:10.1002/rob.21677

Cited by 134 publications

(95 citation statements)

References 34 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Ground vehicle robots (GVR) are a common class of robots used to fulfil these requirements. One particular robotic system developed for the DARPA robotics competition was presented by Schwarz et al (2017). Here a mobile manipulation robot, named Momaro, was designed to perform a number of tasks, including opening a door, turning a valve, cutting a hole into a piece of drywall, overcoming rough terrain and scattered debris and climbing stairs.…”

Section: Search and Rescuementioning

confidence: 99%

Autonomous robots for harsh environments: a holistic overview of current solutions and ongoing challenges

Wong

Yang

Yan

et al. 2018

Systems Science & Control Engineering

View full text Add to dashboard Cite

This paper presents a holistic overview of robotics and autonomous systems developed for applications in harsh environments where interactions with robots are difficult to model due to reasons such as dynamics, uncertainty, complexity and unpredictability. Robots of different characteristics and designs are required to perform different tasks within these environments. A number of classes of robots emerge as particularly favoured by the research community for solving challenging problems in difficult environments. Key examples of these deployments are studied with an analysis on how high-level autonomy is a key issue that must be addressed. The surveyed work suggest that the lack of observable autonomy in many systems are a consequence of both the complexity of the problem and the lack of proven reliability of autonomous solutions for applications that demand high success rates. This paper provides a broad and general overview of autonomous robots deployed in harsh environments and the commonalities of the challenges and existing solutions across application areas, including oil and gas inspection, space exploration, deep-sea operations and search and rescue. ARTICLE HISTORY

show abstract

Section: Search and Rescuementioning

confidence: 99%

Autonomous robots for harsh environments: a holistic overview of current solutions and ongoing challenges

Wong

Yang

Yan

et al. 2018

Systems Science & Control Engineering

View full text Add to dashboard Cite

show abstract

“…The DARPA robotics competition provides a good illustration of this and aims to promote the development of RAS technology through a number of challenges. One particular robotic system developed for this competition is presented in [27]. Here a mobile manipulation robot, named Momaro, was designed to perform a number of tasks, including opening a door, turning a valve, cutting a hole into a piece of drywall, overcoming rough terrain and scattered debris and climbing stairs.…”

Section: Search and Rescuementioning

confidence: 99%

An overview of robotics and autonomous systems for harsh environments

Wong

Yang

Yan

et al. 2017

2017 23rd International Conference on Automation and Computing (ICAC)

View full text Add to dashboard Cite

Abstract-Across a wide range of industries and applications, robotics and autonomous systems can fulfil the crucial and challenging tasks such as inspection, exploration, monitoring, drilling, sampling and mapping in areas of scientific discovery, disaster prevention, human rescue and infrastructure management, etc. However, in many situations, the associated environment is either too dangerous or inaccessible to humans. Hence, a wide range of robots have been developed and deployed to replace or aid humans in these activities. A look at these harsh environment applications of robotics demonstrate the diversity of technologies developed. This paper reviews some key application areas of robotics that involve interactions with harsh environments (such as search and rescue, space exploration, and deep-sea operations), gives an overview of the developed technologies and provides a discussion of the key trends and future directions common to many of these areas.

show abstract

“…The use of four legs for locomotion provides a large and flexible support polygon when the robot is performing mobile manipulation tasks. The Momaro system demonstrated multiple complex tasks under teleoperation in the DARPA Robotics Challenge (Schwarz et al, 2016).…”

Section: Related Workmentioning

confidence: 99%

“…Figure 3 gives an overview of the DOF of Momaro. For detailed information on Momaro's actuators, we refer to Schwarz et al (2016).…”

Section: Modularitymentioning

confidence: 99%

“…Since Momaro's origins are in teleoperated scenarios (Schwarz et al, 2016), it also carries seven color cameras -three panoramic cameras and one downward-facing wideangle camera mounted on the head, one camera mounted in each hand, and one wide-angle camera below the base. In a supervised autonomy scenario, these cameras are mainly used for monitoring the autonomous operation.…”

Section: Sensingmentioning

confidence: 99%

See 1 more Smart Citation

Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-Like Robot

et al. 2016

Self Cite

View full text Add to dashboard Cite

Planetary exploration scenarios illustrate the need for autonomous robots that are capable to operate in unknown environments without direct human interaction. At the DARPA Robotics Challenge, we demonstrated that our Centaur-like mobile manipulation robot Momaro can solve complex tasks when teleoperated. Motivated by the DLR SpaceBot Cup 2015, where robots should explore a Mars-like environment, find and transport objects, take a soil sample, and perform assembly tasks, we developed autonomous capabilities for Momaro. Our robot perceives and maps previously unknown, uneven terrain using a 3D laser scanner. Based on the generated height map, we assess drivability, plan navigation paths, and execute them using the omnidirectional drive. Using its four legs, the robot adapts to the slope of the terrain. Momaro perceives objects with cameras, estimates their pose, and manipulates them with its two arms autonomously. For specifying missions, monitoring mission progress, on-the-fly reconfiguration, and teleoperation, we developed a ground station with suitable operator interfaces. To handle network communication interruptions and latencies between robot and ground station, we implemented a robust network layer for the ROS middleware. With the developed system, our team NimbRo Explorer solved all tasks of the DLR SpaceBot Camp 2015. We also discuss the lessons learned from this demonstration.

show abstract

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

Cited by 134 publications

References 34 publications

Autonomous robots for harsh environments: a holistic overview of current solutions and ongoing challenges

Autonomous robots for harsh environments: a holistic overview of current solutions and ongoing challenges

An overview of robotics and autonomous systems for harsh environments

Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-Like Robot

Contact Info

Product

Resources

About