project specification

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 manip- ulation, along with almost fully hemispherical 3D sensing with passive stereo cameras. The system is semi-autonomous, 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.

Overview

The robot has generalized limbs and hands capable of mobility and manip- ulation, along with almost fully hemispherical 3D sensing with passive stereo cameras. The system is semi-autonomous, 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, parameterize, sequence, and preview behaviors, which are then executed by the robot. RoboSimian placed fifth in the DARPA Robotics Challenge (DRC) Trials, demon- strating its ability to perform disaster recovery tasks in degraded human environments.

Specifications

  • Motor: DC brushed motor
  • Battery charge time: 2 hrs.
  • Mass of battery: 12.5 kg.
  • Peak power amount: 74.8 kW.


References

Wevolver 2022