Rubble Wrestling Robot

What I’ll Be Talking About Background Objective: Design Main Power Tethered Power Plant Supplemental Power Mobility Physical Shape Manipulation Controls Sensors Determining Location Shigeo Hirose Tokyo Technical Institute, Blue Dragon

Background What is Urban Search and Rescue? Who is involved with USAR? What do they do? Shigeo Hirose Tokyo Technical Institute, Blue Dragon

Objective Develop design of robot Teleoperated For use in USAR Capable of performing Victim location, aid Rubble clearing Shoring

Main Power Moog electrohydrostatic actuator Arthur D Little

Tethered or Free? With Umbilical: Easier communication, power transmission Without Umbilical: Greater mobility “Computational Principles of Mobile Robotics” Dudek, Jenkin

Power Plant Batteries: Low power density HC engine: Emissions, hazardous Monopropellant (H2O2, etc.): Good compromise

Hydrogen Peroxide, H2O2 Advantages Disadvantages Emits H2O and O2 Power density Disadvantages 1/3 energy of HC Requires 90%+ concentration Still developing robot actuators http://www.howstuffworks.com 90% H2O2, similar to 1000 lb thrust used by Jack McClure (racer from 60’s)

Chemo-Hydraulic Actuator Vanderbilt University 200 lbs through a 4-inch stroke Hydrogen peroxide Hydroxyl ammonium nitrate Improvements? Center for Intelligent Mechatronics, 25lbs sinusoid Dr. Eric Barth, Tech Grad

Supplemental Power Required for supporting electronics Batteries Sensors, logic, valve control, etc. Lights, cameras, communication Batteries Lithium ion Nimh Ni-Cad Lead acid

Mobility Segmented track thing: Gunryu from Hirose & Yoneda Robotics Lab http://mozu.mes.titech.ac.jp/ Robster: Joseph Ayers, Northeastern University

Mobility Overview Robin Murphy, Tech Grad, now at U of South Florida

Hyper-Redundant Howie Choset, Carnegie Melon

Snake UC Berkeley Homayoon Kazerooni, http://www.me.berkeley.edu/hel/Snake.htm

Cockroach Biomimetic Robot Rhex Open-loop Control UC Berkeley McGill University U of Michigan Open-loop Control http://ai.eecs.umich.edu/RHex/

RHex Simple Open-loop Control Can Navigate Unstructured Terrain High Level Operation

Tracked Motion

Combined Solution A hybrid between the snake and cockroach Can slither through low clearance Has simple high-speed mobility in the open Can navigate unstructured terrain

Physical Shape Segmented Combined Snake Roach

Rubble Manipulation Grippers on Collapsible Arms RedZone Robotics, www.redzone.com Inuktun Services Ltd., http://www.inuktun.com/

Controls Individual? Manual Pedal Voice Gross motor control Fine http://www.canosoarus.com/02Robosaurus/Robo05.htm http://robotics.me.es.osaka-u.ac.jp/~masutani/RescueRobotContest/index-en.html

Manipulator DOF Position: Orientation: Gripper Height 3 DOF 1 DOF http://www.inuktun.com/

Haptic Interface Each arm has 6+1DOF Phantom from Sensable Technologies, Inc. Adapt a hand control

Driving Two DOF Foot pedal Analog or digital http://www.lindeamerica.com/files/HPCVALVE.pdf

Visual Feedback 2.4 GHz transceiver VR helmet PIP Augmented Reality Hemispherical lens

Hands Free Options

Voice Recognition PC based Stand alone (Sensory Inc.) High quality CPU intensive Stand alone (Sensory Inc.) Emerging http://www.sensoryinc.com/

Sensors Variety Diminutive Explosive Toxic chemical O2 CO2 Temp, sound, etc. Diminutive Enmet Corporation, Metal Oxide Semiconductor

Determining Location GPS Beacons Dead reckoning

Conclusion

Questions?

Extra Slides

LCD screen for video MEMS tilt sensor Magnetic compass Victormaxx stuntmaster servocity

Dragan-Flyer

Manipulator

Group Control http://robotics.me.es.osaka-u.ac.jp/~masutani/RescueRobotContest/index-en.html