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3 June 2014 Multi-arm multilateral haptics-based immersive tele-robotic system (HITS) for improvised explosive device disposal
David Erickson, Hervé Lacheray, Gilbert Lai, Amir Haddadi
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Proceedings Volume 9084, Unmanned Systems Technology XVI; 908409 (2014) https://doi.org/10.1117/12.2049944
Event: SPIE Defense + Security, 2014, Baltimore, MD, United States
Abstract
This paper presents the latest advancements of the Haptics-based Immersive Tele-robotic System (HITS) project, a next generation Improvised Explosive Device (IED) disposal (IEDD) robotic interface containing an immersive telepresence environment for a remotely-controlled three-articulated-robotic-arm system. While the haptic feedback enhances the operator's perception of the remote environment, a third teleoperated dexterous arm, equipped with multiple vision sensors and cameras, provides stereo vision with proper visual cues, and a 3D photo-realistic model of the potential IED. This decentralized system combines various capabilities including stable and scaled motion, singularity avoidance, cross-coupled hybrid control, active collision detection and avoidance, compliance control and constrained motion to provide a safe and intuitive control environment for the operators. Experimental results and validation of the current system are presented through various essential IEDD tasks. This project demonstrates that a two-armed anthropomorphic Explosive Ordnance Disposal (EOD) robot interface can achieve complex neutralization techniques against realistic IEDs without the operator approaching at any time.
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David Erickson, Hervé Lacheray, Gilbert Lai, and Amir Haddadi "Multi-arm multilateral haptics-based immersive tele-robotic system (HITS) for improvised explosive device disposal", Proc. SPIE 9084, Unmanned Systems Technology XVI, 908409 (3 June 2014); https://doi.org/10.1117/12.2049944
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KEYWORDS
3D modeling
Improvised explosive devices
Visual process modeling
3D vision
Data modeling
Control systems
Inspection
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