Research in autonomous robotics at ORNL using HERMIES-III
HERMIES-III is an autonomous robot comprised of a seven degree-of- freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omnidirectional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information. 10 refs., 4 figs.
- Research Organization:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 6041213
- Report Number(s):
- CONF-890721-5; ON: DE89004933
- Resource Relation:
- Conference: Joint ASME/JSME pressure vessel and piping conference, Honolulu, HI, USA, 23 Jul 1989; Other Information: Portions of this document are illegible in microfiche products
- Country of Publication:
- United States
- Language:
- English
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Autonomous mobile robot research using the HERMIES-III robot
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99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
ROBOTS
RESEARCH PROGRAMS
AUTOMATION
COMPUTER ARCHITECTURE
COMPUTERIZED CONTROL SYSTEMS
DESIGN
FLOWSHEETS
MAN-MACHINE SYSTEMS
MANIPULATORS
NAVIGATION
REMOTE HANDLING EQUIPMENT
SAFETY
CONTROL SYSTEMS
DIAGRAMS
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
420203* - Engineering- Handling Equipment & Procedures
420200 - Engineering- Facilities
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990220 - Computers
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