Paper Info
Title
ROBHAZ-DT2: Passive double-tracked mobile manipulator 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
10.1007/10991459_34
SPRINGER TRACTS IN ADVANCED ROBOTICS
Keywords
Field
DocType
mobile manipulator,mechanism design,haptic device,user interface
Teleoperation,Simulation,Computer science,Explosive material,Manipulator,Mechanism design,User interface,Haptic technology,Mobile manipulator
Conference
Volume
ISSN
Citations 
24
1610-7438
2
PageRank 
References 
Authors
0.46
5
6
Name
Order
Citations
PageRank
Sungchul Kang137347.67
Changhyun Cho28011.94
Chang-Woo Park317421.54
Jong-hwa Lee4407.55
Dongseok Ryu5669.79
Munsang Kim660863.81