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Published March 2015 | Supplemental Material
Journal Article Open

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

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.

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