(a) (b) (c) (d) (e) (f) (g) (h) (i) (j) (k) (l) (m) (n) (o) Figure 7. Impressions of the final evaluation at KHG. The locomotion tasks: (a) Step Field, (b) Staircase, and (c) Gap. The manipulation tasks: (d) Fire Hose, (e) 230-V Connector (Standard), (f) 230-V Connector (CEE), (g) Shackle, (h) Electric Screwdriver, and (i) Power Drill. The combined tasks: (j) Door, (k) Platform and Valve, and (l) Pipe Star. The autonomous tasks: (m) and (n) Hybrid Driving-Stepping Locomotion and (o) Bimanual Manipulation. 68 * IEEE ROBOTICS & AUTOMATION MAGAZINE * DECEMBER 2019