DLR Institute of Mechatronics and Robotics, The department Mechatronic Systems aims to build robots, which are able to support humans. This, in particular, applies to tasks that are dangerous or harmful for human beings. Hence, the development is focused on giving the robots the abilities needed to perceive their surroundings as well as to act safe and robust even in extremely harsh environments, as found e.g. in space or disaster operations. Consequently, the development concentrates on the robot as a complete system and its fundamental components: Sensors to perceive the environment, communication infrastructure to transmit the perceived data reliably and safe, as well as the actuators needed to execute the tasks of the robot in a safe way for both, the human being as well as the robot.