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

TLDR

Robots capable of performing complex tasks in hazardous environments are urgently required, such as for search and rescue missions. This paper presents Momaro, a mobile manipulation robot that successfully competed in the DARPA Robotics Challenge. Momaro combines a four‑legged chassis with steerable wheels for omnidirectional driving, obstacle stepping, and climbing, and incorporates immersive 3‑D visualization and 6‑D operator motion tracking for advanced teleoperation, as evaluated in DARPA, DLR SpaceBot Cup, and laboratory tests. The authors discuss lessons learned from these competitions.

Abstract

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 teleoperation approaches, which include immersive three‐dimensional (3D) visualization, and 6D tracking of operator head and arm motions. The proposed system is evaluated in the DARPA Robotics Challenge, the DLR SpaceBot Cup Qualification, and lab experiments. We also discuss the lessons learned from the competitions.