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Momaro

Details

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.

Creator
University of Bonn
Country
Germany πŸ‡©πŸ‡ͺ
Year
2015
Type
Disaster Response, Research
Creator
University of Bonn
Country
Germany πŸ‡©πŸ‡ͺ
Year
2015
Type
Disaster Response, Research

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Specs

FEATURES
Advanced teleoperation capabilities. Omnidirectional driving. Hybrid driving-stepping locomotion. Dexterous Manipulation. Low-cost design using off-the-shelf components and 3D-printed parts.
HEIGHT
100 cm | 40 in (200 cm with legs extended)
LENGTH
80 cm | 31.5 in
WIDTH
70 cm | 27.5 in
WEIGHT
58 kg | 128 lb
SPEED
4 km/h | 2.5 mph

SENSORS
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.
ACTUATORS
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.
POWER
22.2-V 1.6-Ah lithium-polymer battery, 1.5 hours of operation
COMPUTING
Main computer with 4.4 GHz Intel Core i7, 32 GB RAM. Six Crumb2560 microcontroller boards.
SOFTWARE
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)
MATERIALS
Carbon fiber, aluminum frames, 3D-printed parts
COST
€50,000
STATUS
Ongoing
HISTORY
WEBSITE
https://www.ais.uni-bonn.de/