1. Rubble Wrestling Robot

2. 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

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

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

5. Main Power
Moog electrohydrostatic actuator
Arthur D Little

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

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

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

9. 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

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

11. Mobility
Segmented track thing: Gunryu from Hirose & Yoneda Robotics Lab
Robster: Joseph Ayers, Northeastern University

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

13. Hyper-Redundant
Howie Choset, Carnegie Melon

14. Snake UC Berkeley Homayoon Kazerooni,

15. Cockroach Biomimetic Robot Rhex Open-loop Control UC Berkeley
McGill University
U of Michigan
Open-loop Control

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

17. Tracked Motion

18. 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

19. Physical Shape
Segmented
Combined
Snake
Roach

20. Rubble Manipulation Grippers on Collapsible Arms
RedZone Robotics,
Inuktun Services Ltd.,

21. Controls Individual? Manual Pedal Voice Gross motor control Fine

22. Manipulator DOF Position: Orientation: Gripper Height 3 DOF 1 DOF

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

24. Driving Two DOF Foot pedal Analog or digital

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

26. Hands Free Options

27. Voice Recognition PC based Stand alone (Sensory Inc.) High quality
CPU intensive
Stand alone (Sensory Inc.)
Emerging

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

29. Determining Location
GPS
Beacons
Dead reckoning

30. Conclusion

31. Questions?

32. Extra Slides

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

34. Dragan-Flyer

35. Manipulator

36. Group Control