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Robust Mobility and Dexterous Manipulation in Disaster Response by Fullbody Telepresence in a Centaur-like Robot

Objective

Disaster scenarios, like the Fukushima nuclear accident, clearly show that the capabilities of today's disaster response robots are not sufficient for providing the needed support to rescue workers. The CENTAURO project aims at development of a human-robot symbiotic system where a human operator is telepresent with its whole body in a Centaur-like robot, which is capable of robust locomotion and dexterous manipulation in the rough terrain and austere conditions characteristic of disasters. The CENTAURO robot will consist of a four-legged basis and an anthropomorphic upper body and will be driven by lightweight, compliant actuators. It will be able to navigate in affected man-made environments, including the inside of buildings and stairs, which are cluttered with debris and partially collapsed. The Centauro system will be capable of using unmodified human tools for solving complex bimanual manipulation tasks, such as connecting a hose or opening a valve, in order to relieve the situation. A human operator will control the robot intuitively using a full-body telepresence suit that provides visual, auditory, and upper-body haptic feedback. Rich sensors will provide the necessary situation awareness.
Robot percepts and suggested actions will be displayed to the operator with augmented reality techniques. For routine manipulation and navigation tasks, autonomous robot skills will be developed. This will allow for taking the operator partially out of the control loop, which will be necessary to cope with communication latencies and bandwidth limitations and to reduce the operator workload.
A series of increasingly complex tests with corresponding evaluation criteria will be devised from end-user requirements to systematically benchmark the capabilities of the developed disaster response system.
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Coordinator

RHEINISCHE FRIEDRICH-WILHELMS-UNIVERSITAT BONN

Address

Regina Pacis Weg 3
53113 Bonn

Germany

Activity type

Higher or Secondary Education Establishments

EU Contribution

€ 784 625

Participants (7)

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FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA

Italy

EU Contribution

€ 724 125

SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S ANNA

Italy

EU Contribution

€ 601 875

KUNGLIGA TEKNISKA HOEGSKOLAN

Sweden

EU Contribution

€ 487 625

LINKOPINGS UNIVERSITET

Sweden

EU Contribution

€ 467 500

RHEINISCH-WESTFAELISCHE TECHNISCHE HOCHSCHULE AACHEN

Germany

EU Contribution

€ 504 125

PROGENOX GMBH

Germany

EU Contribution

€ 383 750

KERNTECHNISCHE HILFSDIENST GMBH

Germany

EU Contribution

€ 171 290

Project information

Grant agreement ID: 644839

Status

Closed project

  • Start date

    1 April 2015

  • End date

    30 September 2018

Funded under:

H2020-EU.2.1.1.5.

  • Overall budget:

    € 4 124 915

  • EU contribution

    € 4 124 915

Coordinated by:

RHEINISCHE FRIEDRICH-WILHELMS-UNIVERSITAT BONN

Germany