  Robots that solve complex tasks in environments too dangerous for humans to
enter are desperately needed, e.g. for search and rescue applications. We
describe our mobile manipulation robot Momaro, with which we participated
successfully in the DARPA Robotics Challenge. It features a unique locomotion
design with four legs ending in steerable wheels, which allows it both to drive
omnidirectionally and to step over obstacles or climb. Furthermore, we present
advanced communication and teleoperation approaches, which include immersive 3D
visualization, and 6D tracking of operator head and arm motions. The proposed
system is evaluated in the DARPA Robotics Challenge, the DLR SpaceBot Cup
Qualification and lab experiments. We also discuss the lessons learned from the
competitions.
