The article by Max Schwarz, Marius Beul, David Droeschel,
Sebastian Schüller, Arul
Selvam Periyasamy, Christian Lenz, Michael Schreiber, and Sven Behnke:
Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot
has been published for the journal Frontiers in Robotics and AI, section Humanoid Robotics, vol. 3, article 57, 2016.
The paper by Max Schwarz, Sebastian Schüller, Christian Lenz,
Droeschel, and Sven Behnke:
Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain
has been accepted for presentation at the 14th International Conference on Intelligent Autonomous Systems (IAS), Shanghai, China, to appear July 2016.
The paper by Max Schwarz, Tobias Rodehutskors, Michael
Schreiber, and Sven
Hybrid Driving-Stepping Locomotion with the Wheeled-legged Robot Momaro
has been accepted for presentation at the IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, to appear May 2016. [Video]
Press release of University of Bonn: Roboter überzeugt beim DLR SpaceBot Camp
Our team NimbRo Explorer solved through the mobile manipulation robot Momaro all tasks at the DLR SpaceBot Camp: taking a soil sample, finding and grasping two objects, transporting them to a basis object, assembly (placing the soil sample at a scale and inserting a battery pack) and operating a switch.
Today is a testing day. Our team has two scheduled test slots.
Our team NimbRo Explorer participates with the mobile manipulation robot Momaro at the DLR SpaceBot Camp 2015 in Hürth.Ten teams from leading German robotics labs will demonstrate semi-autonomous mobile manipulation in a moon-like environment. Based on a coarse map, the robot must explore the arena, find two objects, take a soil sample, transport the objects to a base and assemble them there. Communication to the operator crew is possible only sometimes and has 4 seconds latency.
A team from DLR made a teaser video.
Our team NimbRo Explorer qualified as first of the ten qualification event participants for the DLR SpaceBot Cup. Through the mobile manipulation robot Momaro, our operators solved all three qualification tasks in the first attempt. The DLR SpaceBot Cup qualification event took place in Bonn.
Representatives of DLR and the network provider visited our lab. The DLR communication network was tested sucessfully. The Momaro robot was demonstrated.
Our new mobile manipulation robot Momaro was tested at the DARPA Robotics Challenge in Pomona, CA. Our team NimbRo Rescue was ranked as the best European team, comming in 4th in the overall ranking. Though the Momaro robot, the operators solved seven of the eight possible tasks in only 34 minutes: driving a car, climbing out of the car, opening a door, turning a valve, cutting a hole in a wall, traversing debris, and a surprise task, which was operating an electrical switch. More information.
Representatives of DLR visited our lab for the review meeting "Design".
The article by Jörg Stückler, Max Schwarz, Mark Schadler,
Topalidou-Kyniazopoulou, and Sven Behnke:
NimbRo Explorer: Semi-Autonomous Exploration and Mobile Manipulation in Rough Terrain
has been accepted for the Journal of Field Robotics. It appeared in vol. 33(4):411-430, Wiley, 2016.
Our Team NimbRo Explorer is supported by the German Aerospace Center to participate at the DLR SpaceBot Cup 2015.
Tasks in this challenge are semi-autononomous mobile manipulation in rough terrain. The Kickoff meeting took place in Bonn.
Max Schwarz and Sven Behnke:
Local Navigation in Rough Terrain using Omnidirectional Height
In Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), Munich, June 2014.
Mark Schadler, Jörg Stückler, and Sven Behnke:
Rough Terrain 3D Mapping and Navigation using a Continuously Rotating 2D Laser Scanner
German Journal on Artificial Intelligence (KI) 28(2):93-99, Springer, 2014.
Video of our Explorer robot demonstrating exploration and mobile manipulation at the DLR SpaceBot Cup.
Map of the SpaceBot Cup arena created from 3D laser scans taken after the end of the competition.
An informative article on the competition by dw.de: Weltraum-Roboter im Wettstreit
Press release of University of Bonn on the results of our team: Roboter demonstrieren mobile Manipulation
In the afternoon, all teams had the opportunity to simultanously operate their robots in the arena. Our Explorer robot demonstrated autonomous grasping and storage of the battery pack and autonomous removal of the battery pack from its holder. It also removed the cup from the holder and placed it on the scale. The jury decided to award no trophies to any of the teams. No competition scores have been communicated to the teams so far.
Our Explorer robot had its run in the unknown arena today. It created a 3D map of the terrain and navigated to one of the objects that where placed in the arena. It grasped this water-filled cup autonomously and placed it in the holding mechanism without spilling any water. After the official run ended, the robot navitated to the other side of the arena and climbed a hill.
We tested in a small area outside the arena. We also tested the ground station and the network provided by DLR.
First evening in the SuperCross hall, Rheinbreitbach.
The arena contains a variety of surfaces and obstacles.
University of Bonn released information
for the media.
A first photo of our Explorer robot.
DLR published a video introducing our team.
The paper Mark Schadler, Jörg Stückler and Sven Behnke:
Multi-Resolution Surfel Mapping and Real-Time Pose Tracking using a Continuously Rotating 2D Laser Scanner
has been presented at the 11th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Linköping, Sweden, October 2013.
Further information on our entry NimbRo Centauro to the DLR SpaceBot Cup 2013 is available here.