Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other planets. Suitable platforms require flexible and robust hardware, a locomotion approach that allows for navigating a wide variety of terrains, dexterous manipulation capabilities, and respective user interfaces. We present the CENTAURO system which has been designed for these requirements and consists of the Centauro robot and a set of advanced operator interfaces with complementary strength enabling the system to solve a wide range of realistic mobile manipulation tasks. The robot possesses a centaur-like body plan and is driven by torque-controlled compliant actuators. Four articulated legs ending in steerable wheels allow for omnidirectional driving as well as for making steps. An anthropomorphic upper body with two arms ending in five-finger hands enables human-like manipulation. The robot perceives its environment through a suite of multimodal sensors. The resulting platform complexity goes beyond the complexity of most known systems which puts the focus on a suitable operator interface. An operator can control the robot through a telepresence suit, which allows for flexibly solving a large variety of mobile manipulation tasks. Locomotion and manipulation functionalities on different levels of autonomy support the operation. The proposed user interfaces enable solving a wide variety of tasks without previous task-specific training. The integrated system is evaluated in numerous teleoperated experiments that are described along with lessons learned.

中文翻译：

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使用 Centauro 机器人进行远程移动操作：全身远程呈现和自主操作员协助

在难以接近和危险的环境中解决移动操作任务是机器人支持人类的重要应用。示例领域是在月球和其他行星上建造和维护有人和无人站。合适的平台需要灵活而强大的硬件、一种允许导航各种地形的运动方法、灵巧的操作能力和相应的用户界面。我们展示了为满足这些要求而设计的 CENTAURO 系统，它由 Centauro 机器人和一组具有互补优势的高级操作员界面组成，使系统能够解决各种现实的移动操作任务。该机器人拥有半人马般的身体结构，并由扭矩控制的柔性致动器驱动。四个铰接式腿以可转向轮结尾，可实现全方位驾驶和踏步。一个拟人化的上半身，有两条手臂，末端是五指手，可以像人类一样进行操作。机器人通过一套多模式传感器感知其环境。由此产生的平台复杂性超出了大多数已知系统的复杂性，后者将重点放在合适的操作员界面上。操作员可以通过远程呈现服控制机器人，从而灵活地解决各种移动操作任务。不同自主级别的移动和操纵功能支持操作。建议的用户界面无需先前针对特定任务的培训即可解决各种任务。