DocumentCode :
399449
Title :
ROBHAZ-DT2: design and integration of passive double tracked mobile manipulator system for explosive ordnance disposal
Author :
Kang, Sungchul ; Cho, Changhyun ; Lee, Jonghwa ; Ryu, Dongseok ; Park, Changwoo ; Shin, Kyung-Chul ; Kim, Munsang
Author_Institution :
Intelligent Robotics Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea
Volume :
3
fYear :
2003
fDate :
27-31 Oct. 2003
Firstpage :
2624
Abstract :
The design and integration of ROBHAZ-DT2 is presented which is a newly developed mobile manipulator system. It is designed to carry out military and civilian missions in various hazardous environments. In developing the integrated ROBHAZ-DT2 system, we have focused on two issues: 1) novel mechanism design for mobility and manipulation and 2) intuitive user interface for teleoperation. In mechanism design, a double tracks connected by a passive joint has been designed to achieve high speed and rugged mobility on uneven terrain. In addition, a six-dof foldable manipulator suitable for the mobile manipulation has been designed. Secondly, a new compact 6-dof haptic device has been developed for teleoperation of the ROBHAZ-DT2. This haptic device is specially designed for simultaneous control both of the mobile base and the manipulator of ROBHAZ-DT2. As a result of integration of ROBHAZ-DT2 and the user interface unit including the haptic device, we could successfully demonstrate a typical EOD task requiring abilities of mobility and manipulation in outdoor environment.
Keywords :
haptic interfaces; manipulators; military systems; mobile robots; telecontrol; EOD task; ROBHAZ-DT2 design; civilian missions; compact 6 dof haptic device; explosive ordnance disposal; foldable manipulator; hazardous environments; intuitive user interface; manipulation; mechanism design; military; mobile manipulator system; outdoor environment; passive double track; passive joint; teleoperation; user interface; Energy consumption; Explosives; Haptic interfaces; Humans; Intelligent robots; Legged locomotion; Manipulators; Mobile robots; Robot sensing systems; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
Type :
conf
DOI :
10.1109/IROS.2003.1249266
Filename :
1249266
Link To Document :
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