CHIMP (CMU Highly Intelligent Mobile Plaform) is a semi-autonomous, high degree of freedom robot performing work in a human engineered environment. CHIMP is a humanoid robot but is differentiated by tracks on each of its four limbs. This enables it to travel in varied environments without the control challlenges of bipedal locomotion, while enabling it to interface with elements designed for human use (ladders, valves, door handles, etc.)