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To overcome big hurdles such as a short development time and limited budget, we focused on forming modular components\u2014in both hardware and software\u2014to allow for efficient and cost\u2010effective parallel development. The hardware of THOR\u2010OP (Tactical Hazardous Operations Robot\u2013Open Platform) consists of standardized, advanced actuators and structural components. These aspects allowed for efficient maintenance, quick reconfiguration, and most importantly, a relatively low build cost. We also pursued modularity in the software, which consisted of a hybrid locomotion engine, a hierarchical arm controller, and a platform\u2010independent remote operator interface. These modules yielded multiple control options with different levels of autonomy to suit various situations. The flexible software architecture allowed rapid development, quick migration to hardware changes, and multiple parallel control options. 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