CaltechAUTHORS
Published March 2015 | Version Supplemental Material
Journal Article Open

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

Creators

  • 1. ROR icon Jet Propulsion Lab
  • 2. ROR icon Stanford University
  • 3. ROR icon University of California, Santa Barbara
  • 4. ROR icon California Institute of Technology

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.

Additional Information

© 2015 Wiley Periodicals, Inc. Received 9 March 2014; accepted 23 November 2014. Article first published online: 13 Feb 2015. The research described in this publication was carried out at the Jet Propulsion Laboratory, California Institute of Technology, with funding from the DARPA Robotics Challenge Track A program through an agreement with NASA.

Attached Files

Supplemental Material - rob21566-sup-0001-drc.mp4

Files

rob21566-sup-0001-drc.mp4

Files (142.7 MB)

Name Size Download all
md5:7406616c260118897dde999410db6bd2
142.7 MB Preview Download

Additional details

Identifiers

Eprint ID
56155
DOI
10.1002/rob.21566
Resolver ID
CaltechAUTHORS:20150327-072224795

Related works

Describes
10.1002/rob.21566 (DOI)
http://onlinelibrary.wiley.com/doi/10.1002/rob.21566/suppinfo (URL)

Funding

NASA/JPL/Caltech
DARPA Robotics Challenge Track-NASA
Defense Advanced Research Projects Agency (DARPA)

Dates

Created
2015-03-27
Created from EPrint's datestamp field
Updated
2021-11-10
Created from EPrint's last_modified field