Multi-arm multilateral haptics-based immersive tele-robotic system (HITS) for improvised explosive device disposal

David Erickson; Hervé Lacheray; Gilbert Lai; Amir Haddadi

doi:10.1117/12.2049944

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

Author Affiliations +

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.

Citation Download Citation

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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