Team NimbRo at MBZIRC 2017: Autonomous Valve Stem Turning using a Wrench

Summary

Team NimbRo's robot Mario won the MBZIRC 2017 Challenge 2 by autonomously manipulating a valve stem using a wrench. The robot uses an omnidirectional base for locomotion and a 3D laser scan detector to find the manipulation panel. A deep neural network detects and selects the correct tool from grayscale images, and motion primitives are adapted to turn the valve stem. Why it matters: This work demonstrates advanced robotic manipulation capabilities relevant for industrial automation and hazardous environment operations in the region.