Abstract
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.
Highlights
In planetary exploration scenarios, robots are needed that are capable to autonomously operate in unknown environments and highly unstructured and unpredictable situations
The German Aerospace Center (DLR) held the DLR SpaceBot Camp 2015.1 Ten German research groups were supported to foster the development of robots, capable of autonomously solving complex tasks that are required in a typical planetary exploration scenario
We developed NimbRo Explorer (Stückler et al, 2015), a six-wheeled robot equipped with a 7 degrees of freedom (DOF) arm designed for mobile manipulation in rough terrain, encountered in planetary exploration scenarios
Summary
Robots are needed that are capable to autonomously operate in unknown environments and highly unstructured and unpredictable situations. Since human workers cannot be deployed due to economic or safety constraints, autonomous robots have to robustly solve complex tasks without human intervention. To address this need, the German Aerospace Center (DLR) held the DLR SpaceBot Camp 2015.1 Ten German research groups were supported to foster the development of robots, capable of autonomously solving complex tasks that are required in a typical planetary exploration scenario. To perform a wide range of manipulation tasks, Momaro has an anthropomorphic upper body with two 7 degrees of freedom (DOF) manipulators that end in dexterous grippers This allows for the single-handed manipulation of smaller objects, as well as for two-armed manipulation of larger objects and the use of tools. Momaro solved all tasks autonomously in only 20:25 out of FIGURE 1 | The mobile manipulation robot Momaro taking a soil sample. We discuss lessons learned from the challenging robot operations
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