Mobile Manipulation and Mobility as Manipulation—Design and Algorithms of RoboSimian

TLDR

The paper introduces RoboSimian, a statically stable quadrupedal robot designed for both dexterous manipulation and versatile mobility in challenging terrain. RoboSimian uses generalized limbs and hands, hemispherical stereo vision, and a unified mobile‑manipulation planner to autonomously walk, climb, sit, grasp, and manipulate, while a semiautonomous laptop interface allows low‑bandwidth, high‑latency control. In the DARPA Robotics Challenge Trials, RoboSimian finished fifth, proving its capability to execute disaster‑recovery tasks in degraded human environments.

Abstract

This article presents the hardware design and software algorithms of RoboSimian, a statically stable quadrupedal robot capable of both dexterous manipulation and versatile mobility in difficult terrain. The robot has generalized limbs and hands capable of mobility and manipulation, along with almost fully hemispherical three‐dimensional sensing with passive stereo cameras. The system is semiautonomous, enabling low‐bandwidth, high latency control operated from a standard laptop. Because limbs are used for mobility and manipulation, a single unified mobile manipulation planner is used to generate autonomous behaviors, including walking, sitting, climbing, grasping, and manipulating. The remote operator interface is optimized to designate, parametrize, sequence, and preview behaviors, which are then executed by the robot. RoboSimian placed fifth in the DARPA Robotics Challenge Trials, demonstrating its ability to perform disaster recovery tasks in degraded human environments.