| Deliverable Number | Deliverable Title | WP Number | Lead Beneficiary | Type | Dissemenation Level | Due Date (in months) |
| D2.1 | Design concept of CENTAURO robot | WP2 | IIT | Report | Public | 6 |
| D2.2 | Prototype of upper body | WP2 | IIT | Demonstration | Public | 17 |
| D2.3 | First prototype of CENTAURO robot | WP2 | IIT | Demonstration | Public | 21 |
| D2.4 | Balance and wheeled locomotion control strategies | WP2 | IIT | Report | Public | 27 |
| D2.5 | Final version of CENTAURO robot | WP2 | IIT | Demonstration | Public | 36 |
| D2.6 | Legged locomotion control strategies | WP2 | IIT | Report | Public | 39 |
| D3.1 | Design concept of operator interfaces | WP3 | SSSA | Report | Public | 6 |
| D3.2 | First version of operator interface core components | WP3 | SSSA | Demonstration | Public | 17 |
| D3.3 | Operator interface control, first version of control station | WP3 | SSSA | Demonstration | Public | 30 |
| D3.4 | Final version of control station | WP3 | SSSA | Demonstration | Public | 39 |
| D4.1 | Virtual Testbed concept | WP4 | RWTH | Report | Public | 6 |
| D4.2 | Simulation of CENTAURO robot and environment | WP4 | RWTH | Demonstration | Public | 17 |
| D4.3 | Predictive robot environment model | WP4 | RWTH | Demonstration | Public | 30 |
| D4.4 | Switching between direct control and prediction mode | WP4 | RWTH | Report | Public | 39 |
| D5.1 | CENTAURO navigation concept | WP5 | KTH | Report | Public | 6 |
| D5.2 | Terrain classification | WP5 | LIU | Report | Public | 17 |
| D5.3 | Driving navigation | WP5 | KTH | Report | Public | 30 |
| D5.4 | Walking navigation | WP5 | UBO | Report | Public | 39 |
| D6.1 | CENTAURO manipulation concept | WP6 | UBO | Report | Public | 6 |
| D6.2 | Object and workspace perception | WP6 | LIU | Report | Public | 17 |
| D6.3 | Autonomous single arm pick and plave manipilation skills | WP6 | UBO | Report | Public | 30 |
| D6.4 | Autonomous dual arm pick and place manipulation skills | WP6 | UBO | Report | Public | 39 |
| D7.1 | CENTAURO integration concept | WP7 | UBO | Report | Public | 6 |
| D7.2 | Communication link | WP7 | PGX | Report | Public | 17 |
| D7.3 | First integrated CENTAURO system | WP7 | PGX | Demonstration | Public | 30 |
| D7.4 | Final integrated CENTAURO system | WP7 | PGX | Demonstration | Public | 42 |
| D8.1 | CENTAURO evaluation concept | WP8 | LIU | Report | Public | 6 |
| D8.2 | Core component evaluation | WP8 | LIU | Report | Public | 18 |
| D8.3 | First CENTAURO system evaluation | WP8 | KHG | Report | Public | 30 |
| D8.4 | Final CENTAURO system evaluation | WP8 | KHG | Report | Public | 42 |
