Team NimbRo Rescue
Team NimbRo Rescue is based in the Autonomous Intelligent Systems Group at the Computer Science Institute of University of Bonn, Germany.
The University of Bonn is one of the leading public research universities of Germany. Its Computer Science Institute has a long tradition in robotics research, especially in the areas of mobile robotics and SLAM. Since 2008, the Autonomous Intelligent Systems (AIS) group conducts research in cognitive robotics and machine learning.
The AIS group has extensive experience in real-time perception, control, and system integration for complex robots, including robots for semi-autonomous exploration and manipulation in rough terrain, autonomous service robots capable of mobile manipulation and intuitive human-robot interaction in complex environments, and micro aerial vehicles for autonomous navigation in restricted 3D environments. We developed advanced methods for laser-based and RGB-D 3D SLAM, semantic mapping, and planning for navigation and manipulation, tool use, and robot teleoperation.
The AIS group has extensive experience in robot competitions and challenges. Our team NimbRo participated with great success at the international RoboCup competitions, winning a total of 13 tournaments, including five consecutive years of the Humanoid TeenSize soccer league and the three consecutive years of the @Home domestic service robot league. We also developed a robot for mobile manipulation in rough terrain, which participated at the DLR SpaceBot Cup. Our teams NimbRo Manipulation, NimbRo Logistics and NimbRo Copter are qualified for the European Robotics Challenges.
Our team has the necessary expertise to address the objectives of the DARPA Robotics Challenge.
Our mobile manipulation robot Momaro has been specifically designed to the requirements of the DARPA Robotics Challenge. It consists of an anthropomorphic upper body on a flexible hybrid mobile base.
Its locomotion concept is based on four compliant legs which end in pairs of directly driven, steerable wheels. This allows for omnidirectional driving on rugged terrain and for adjusting the height of the upper body. To overcome larger obstacles and to climb stairs, individual legs are lifted and the robot makes steps.
The upper body consists of two adult-sized anthropomorphic arms with seven degrees of freedom each. The robot grippers have four individually controllable fingers with two joints each. The robot upper body can be twisted relative to the base, to extend the manipulation workspace.
Momaro is equipped with a sensor head consisting of a continuously rotating 3D laser scanner, which produces a spherical field-of-view, eight RGB-D cameras with an omnidirectional field-of-view, three full HD color cameras for a panoramic operator view, and a top-down wide angle camera. In addition, the robot can sense joint positions and torques and is equipped with an inertial measurement unit.
The operator station supports various 3D visualizations of the robot in its environment, panoramic and top-down video, and the interactive configuration of semi-autonomous locomotion and manipulation skills.