Paper Info
Title
Robhaz-Dt2: Design And Integration Of Passive Double Tracked Mobile Manipulator System For Explosive Ordnance Disposal
Abstract
In this paper, 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.
Year
DOI
Venue
2003
10.1109/IROS.2003.1249266
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4
Keywords
Field
DocType
haptic device,mobile robots,mobile manipulator,mechanism design,user interface
Teleoperation,Computer science,Simulation,Explosive material,Terrain,Control engineering,Mechanism design,User interface,Mobile robot,Haptic technology,Mobile manipulator
Conference
Citations 
PageRank 
References 
9
1.18
4
Authors
7
Name
Order
Citations
PageRank
Sungchul Kang137347.67
Changhyun Cho28011.94
Jong-hwa Lee3407.55
Dongseok Ryu4669.79
Chang-Woo Park517421.54
KyungChul Shin6132.78
Munsang Kim760863.81