Team NimbRo Rescue at DARPA Robotics Challenge Finals

被引：0

作者：

Behnke, Sven ^{[1
]}

Schwarz, Max ^{[1
]}

Rodehutskors, Tobias ^{[1
]}

Droeschel, David ^{[1
]}

Schreiber, Michael ^{[1
]}

Topelidou-Kyniazopoulou, Angeliki ^{[1
]}

Schwarz, David ^{[1
]}

Lenz, Christian ^{[1
]}

Schueller, Sebastian ^{[1
]}

Razlaw, Jan ^{[1
]}

Ivanov, Ivan ^{[1
]}

Araslanov, Nikita ^{[1
]}

Beul, Marius ^{[1
]}

机构：

[1] Univ Bonn, Inst Comp Sci 6, Autonomous Intelligent Syst, Friedrich Ebert Allee 144, Bonn, Germany

来源：

2015 IEEE-RAS 15TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS) | 2015年

关键词：

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The video shows the compacted first-day run of team NimbRo Rescue at the DARPA Robotics Challenge Finals in Pomona, CA. It features the mobile manipulation robot Momaro which has a flexible base with four legs that end in steerable wheels. Momaro can drive omnidirectionally and step over obstacles. The robot is equipped with an anthropomorphic upper body with two 7 DoF arms that end in four-finger grippers. A 3D laser scanner and multiple cameras capture the environment. Operator interfaces include a steering wheel and a gas pedal for car driving, a joystick for omnidirectional locomotion, and a head-mounted 3D immersive display with two 6 DoF magnetic hand trackers for solving complex manipulation tasks. Through Momaro, our team solved seven of the eight tasks of the DARPA Robotics Challenge: driving a car, egressing the car, opening a door, turning a valve, cutting a hole into a drywall, traversing debris, and a surprise task, which was to operate a big switch. All this was done in only 34 minutes. Team NimbRo Rescue was the best European team, coming in 4th in the overall ranking.

引用

页码：554 / 554

页数：1

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