Momaro is a mobile robot that can carry out sensing and manipulation tasks in disaster sites and other harsh environments. It was designed to compete in the DARPA Robotics Challenge, coming in fourth place.
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Did You Know?
Momaro stands for MObile MAnipulation Robot.
Momaro came in fourth place at the DARPA Robotics Challenge in 2015 and was the top European performer.
Momaro and its operator station can be easily disassembled and re-assembled.
To travel to the DARPA Robotics Challenge in the United States, Momaro and its operator station were disassembled and transported in 14 regular sized suitcases.
- Advanced teleoperation capabilities. Omnidirectional driving. Hybrid driving-stepping locomotion. Dexterous Manipulation. Low-cost design using off-the-shelf components and 3D-printed parts.
- 100 cm | 40 in (200 cm with legs extended)
- 80 cm | 31.5 in
- 70 cm | 27.5 in
- 58 kg | 128 lb
- 4 km/h | 2.5 mph
- Head with rotating 3D laser scanner. Pixhawk inertial measurement unit (IMU). Three full HD RGB cameras. Wide-angle camera at the upper body, front. Wide angle camera under the robot base (to get a view on the legs). RGB camera inside of both hands to support grasping. Microphone and infrared distance sensor.
- Robotis Dynamixel actuators: H54-200 x 12; H54-100 x 8; H42-20 x 17; L42-10 x 2; MX-106 x 8; MX-64 x 9.
- 22.2-V 1.6-Ah lithium-polymer battery, 1.5 hours of operation
- Main computer with 4.4 GHz Intel Core i7, 32 GB RAM. Six Crumb2560 microcontroller boards.
- Ubuntu Linux OS, Robot Operating System (ROS)
- DEGREES OF FREEDOM (DOF)
- 56 (Arm: 7 DoF x 2; Hand: 8 DoF x 2; Torso: 1 DoF; Leg: 4 DoF x 4; Wheel: 2 DoF x 4; Laser scanner: 1 DoF)
- Carbon fiber, aluminum frames, 3D-printed parts