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While recent advances in approaches for control of humanoid robot systems show promising results, consideration of fully integrated humanoid systems for solving complex tasks, such as disaster response, has only recently gained focus. In this paper, a software framework for humanoid disaster response robots is introduced. It provides newcomers as well as experienced researchers in humanoid robotics a comprehensive system comprising open source packages for locomotion, manipulation, perception,doi:10.3389/frobt.2016.00031 fatcat:4wjx7zaoaffpliak4iilu4cowe