Momaro

Name: Momaro
Rating: 3.7 (367 reviews)

A four-wheeled mobile robot with a wide base, slim torso, arms with gripper hands, and an orange horizontal bar with sensors for a head moves to open a door. — Knock, knock. Who's there? Momaro! Photo: University of Bonn

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

Year

2015

Country

Germany 🇩🇪

Categories

Features

Momaro's hybrid locomotion design. Video: University of Bonn

Did you know?

Momaro stands for MObile MAnipulation Robot.

Close-up of the robots grippers holding a plug in a wall. — Time to unplug. Photo: University of Bonn

The orange and black robots back wheels are on the ground while its front legs are positioned on a stair. — Momaro can climb stairs. Photo: University of Bonn

More Images

The robots orange torso, neck and head are seen in a cart-like vehicle. — Momaro learning to drive. Photo: University of Bonn

Back view of a person looking at multiple computer monitors showing views from the robot. — Seeing what the robot sees. Photo: University of Bonn

Specs

Overview: Advanced teleoperation capabilities. Omnidirectional driving. Hybrid driving-stepping locomotion. Dexterous Manipulation. Low-cost design using off-the-shelf components and 3D-printed parts.
Status: Ongoing
Year: 2015
Website: ais.uni-bonn.de
Width: 70 cm
Height: 100 cm (200 cm with legs extended)
Length: 80 cm
Weight: 58 kg
Speed: 4 km/h
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.
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
Compute: Main computer with 4.4 GHz Intel Core i7, 32 GB RAM. Six Crumb2560 microcontroller boards.
Software: Ubuntu Linux OS, Robot Operating System (ROS)
Power: 22.2-V 1.6-Ah lithium-polymer battery, 1.5 hours of operation
Cost: €50,000