RoboSimian: Software Algorithms for a Mobile Manipulation Quadruped Robot

摘要

RoboSimian, a statically stable quadrupedal robot capable of both dexterous manipulation and versatile mobility in difficult terrain, was built to compete in the Defense Advanced Research Projects Agency (DARPA) Robotics Challenge, a competitive effort to develop hardware and software in the area of mobile manipulation platforms to assist humans in responding to natural and manmade disasters.