Abstract
In this paper, design and integration of ROBHAZ-DT2 is presented which is a newly developed mobile manipulator system. It is designed to carry out military and civilian missions in various hazardous environments. In developing the integrated ROBHAZ-DT2 system, we have focused on two issues: 1) novel mechanism design for mobility and manipulation and 2) intuitive user interface for teleoperation. In mechanism design, a double tracks connected by a passive joint has been designed to achieve high speed and rugged mobility on uneven terrain. In addition, a six-dof foldable manipulator suitable for the mobile manipulation has been designed. Secondly, a new compact 6-dof haptic device has been developed for teleoperation of the ROBHAZ-DT2. This haptic device is specially designed for simultaneous control both of the mobile base and the manipulator of ROBHAZ-DT2. As a result of integration of RobhAZ-DT2 and the user interface unit including the haptic device, we could successfully demonstrate a typical EOD task requiring abilities of mobility and manipulation in outdoor environment.
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© 2006 Springer-Verlag Berlin Heidelberg
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Kang, S., Cho, C., Park, C., Lee, J., Ryu, D., Kim, M. (2006). ROBHAZ-DT2: Passive Double-Tracked Mobile Manipulator for Explosive Ordnance Disposal. In: Yuta, S., Asama, H., Prassler, E., Tsubouchi, T., Thrun, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 24. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10991459_34
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DOI: https://doi.org/10.1007/10991459_34
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-32801-8
Online ISBN: 978-3-540-32854-4
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