Mobile manipulation robots have high potential to support rescue forces in disaster-response missions. Despite the difficulties imposed by real-world scenarios, robots are promising to perform mission tasks from a safe distance. In the CENTAURO project, we developed a disaster-response system which consists of the highly flexible Centauro robot and suitable control interfaces including an immersive tele-presence suit and support-operator controls on different levels of autonomy. In this article, we give an overview of the final CENTAURO system. In particular, we explain several high-level design decisions and how those were derived from requirements and extensive experience of Kerntechnische Hilfsdienst GmbH, Karlsruhe, Germany (KHG). We focus on components which were recently integrated and report about a systematic evaluation which demonstrated system capabilities and revealed valuable insights.
@article{arxiv.1909.08812,
title = {Flexible Disaster Response of Tomorrow -- Final Presentation and Evaluation of the CENTAURO System},
author = {Tobias Klamt and Diego Rodriguez and Lorenzo Baccelliere and Xi Chen and Domenico Chiaradia and Torben Cichon and Massimiliano Gabardi and Paolo Guria and Karl Holmquist and Malgorzata Kamedula and Hakan Karaoguz and Navvab Kashiri and Arturo Laurenzi and Christian Lenz and Daniele Leonardis and Enrico Mingo Hoffman and Luca Muratore and Dmytro Pavlichenko and Francesco Porcini and Zeyu Ren and Fabian Schilling and Max Schwarz and Massimiliano Solazzi and Michael Felsberg and Antonio Frisoli and Michael Gustmann and Patric Jensfelt and Klas Nordberg and Jürgen Roßmann and Uwe Süss and Nikos G. Tsagarakis and Sven Behnke},
journal= {arXiv preprint arXiv:1909.08812},
year = {2019}
}
Comments
Accepted for IEEE Robotics and Automation Magazine (RAM), to appear December 2019