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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?

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Rubble Wrestling Robot

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Presentation Transcript

  1. RubbleWrestlingRobot

  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

  3. Background • What is Urban Search and Rescue? • Who is involved with USAR? • What do they do?

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

  5. Main Power

  6. Tethered or Free? • With Umbilical: Easier communication, power transmission • Without Umbilical: Greater mobility

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

  8. Hydrogen Peroxide, H2O2 • Advantages • Emits H2O and O2 • Power density • Disadvantages • 1/3 energy of HC • Requires 90%+ concentration • Still developing robot actuators

  9. Chemo-Hydraulic Actuator • Vanderbilt University • 200 lbs through a 4-inch stroke • Hydrogen peroxide • Hydroxyl ammonium nitrate • Improvements?

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

  11. Mobility

  12. Mobility Overview

  13. Hyper-Redundant • Howie Choset, Carnegie Melon

  14. Snake • UC Berkeley

  15. Cockroach • Biomimetic Robot • Rhex • 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

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

  22. Manipulator DOF • Position: • 3 DOF • Orientation: • 3 DOF • Gripper • 1 DOF • Height • 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 • High quality • CPU intensive • Stand alone (Sensory Inc.) • Emerging

  28. Sensors • Variety • Explosive • Toxic chemical • O2 • CO2 • Temp, sound, etc. • Diminutive

  29. Determining Location • GPS • Beacons • Dead reckoning

  30. Conclusion

  31. Questions?

  32. Extra Slides

  33. LCD screen for video • MEMS tilt sensor • Magnetic compass

  34. Dragan-Flyer

  35. Manipulator

  36. Group Control

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