Download - Rubble Wrestling Robot
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
Background
• What is Urban Search and Rescue?
• Who is involved with USAR?
• What do they do?
Objective
• Develop design of robot– Teleoperated– For use in USAR– Capable of performing
• Victim location, aid• Rubble clearing• Shoring
Main Power
Tethered or Free?
• With Umbilical: Easier communication, power transmission
• Without Umbilical: Greater mobility
Power Plant
• Batteries: Low power density
• HC engine: Emissions, hazardous
• Monopropellant (H2O2, etc.): Good compromise
Hydrogen Peroxide, H2O2
• Advantages– Emits H2O and O2
– Power density• Disadvantages
– 1/3 energy of HC– Requires 90%+
concentration– Still developing robot
actuators
Chemo-Hydraulic Actuator
• Vanderbilt University• 200 lbs through a 4-
inch stroke• Hydrogen peroxide• Hydroxyl ammonium
nitrate
• Improvements?
Supplemental Power
• Required for supporting electronics– Sensors, logic, valve control, etc.– Lights, cameras, communication
• Batteries– Lithium ion– Nimh– Ni-Cad– Lead acid
Mobility
Mobility Overview
Hyper-Redundant
• Howie Choset, Carnegie Melon
Snake
• UC Berkeley
Cockroach
• Biomimetic Robot• Rhex
– UC Berkeley– McGill University– U of Michigan
• Open-loop Control
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
Controls
• Individual?• Manual
– Gross motor control– Fine
• Pedal
• Voice
Manipulator DOF
• Position:– 3 DOF
• Orientation:– 3 DOF
• Gripper– 1 DOF
• Height– 1 DOF
Haptic Interface
• Each arm has 6+1DOF
• Phantom from Sensable Technologies, Inc.
• Adapt a hand control
Driving
• Two DOF
• Foot pedal
• Analog or digital
Visual Feedback
• 2.4 GHz transceiver
• VR helmet
• PIP
• Augmented Reality
• Hemispherical lens
Hands Free Options
Voice Recognition
• PC based– High quality– CPU intensive
• Stand alone (Sensory Inc.)– Emerging
Sensors
• Variety– Explosive– Toxic chemical– O2
– CO2
– Temp, sound, etc.• Diminutive
Determining Location
• GPS• Beacons• Dead reckoning
Conclusion
Questions?
Extra Slides
• LCD screen for video• MEMS tilt sensor• Magnetic compass
Dragan-Flyer
Manipulator
Group Control