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The robot has generalized limbs and hands capable of mobility and manipulation, along with almost fully hemispherical three\u2010dimensional sensing with passive stereo cameras. The system is semiautonomous, enabling low\u2010bandwidth, high latency control operated from a standard laptop. Because limbs are used for mobility and manipulation, a single unified mobile manipulation planner is used to generate autonomous behaviors, including walking, sitting, climbing, grasping, and manipulating. The remote operator interface is optimized to designate, parametrize, sequence, and preview behaviors, which are then executed by the robot. RoboSimian placed fifth in the DARPA Robotics Challenge Trials, demonstrating its ability to perform disaster recovery tasks in degraded human environments.<\/jats:p>","DOI":"10.1002\/rob.21566","type":"journal-article","created":{"date-parts":[[2015,2,13]],"date-time":"2015-02-13T13:16:21Z","timestamp":1423833381000},"page":"255-274","source":"Crossref","is-referenced-by-count":111,"title":["Mobile Manipulation and Mobility as Manipulation\u2014Design and Algorithms of RoboSimian"],"prefix":"10.1002","volume":"32","author":[{"given":"Paul","family":"Hebert","sequence":"first","affiliation":[{"name":"Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena California 91109"}]},{"given":"Max","family":"Bajracharya","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena California 91109"}]},{"given":"Jeremy","family":"Ma","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena California 91109"}]},{"given":"Nicolas","family":"Hudson","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena California 91109"}]},{"given":"Alper","family":"Aydemir","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena California 91109"}]},{"given":"Jason","family":"Reid","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena California 91109"}]},{"given":"Charles","family":"Bergh","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena California 91109"}]},{"given":"James","family":"Borders","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena California 91109"}]},{"given":"Matthew","family":"Frost","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena California 91109"}]},{"given":"Michael","family":"Hagman","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena California 91109"}]},{"given":"John","family":"Leichty","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena California 91109"}]},{"given":"Paul","family":"Backes","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena California 91109"}]},{"given":"Brett","family":"Kennedy","sequence":"additional","affiliation":[{"name":"Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena California 91109"}]},{"given":"Paul","family":"Karplus","sequence":"additional","affiliation":[{"name":"Stanford University Palo Alto California 94305"}]},{"given":"Brian","family":"Satzinger","sequence":"additional","affiliation":[{"name":"University of California Santa Barbara Santa Barbara, California 93106"}]},{"given":"Katie","family":"Byl","sequence":"additional","affiliation":[{"name":"University of California Santa Barbara Santa Barbara, California 93106"}]},{"given":"Krishna","family":"Shankar","sequence":"additional","affiliation":[{"name":"California Institute of Technology 1200 East California Boulevard Pasadena California 91125"}]},{"given":"Joel","family":"Burdick","sequence":"additional","affiliation":[{"name":"California Institute of Technology 1200 East California Boulevard Pasadena California 91125"}]}],"member":"311","published-online":{"date-parts":[[2015,2,13]]},"reference":[{"key":"e_1_2_6_2_1","doi-asserted-by":"crossref","unstructured":"Aguero C. 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