Autonomous mobile robot research using the HERMIES-III robot
This paper reports on the status and future directions in the research, development and experimental validation of intelligent control techniques for autonomous mobile robots using the HERMIES-III robot at the Center for Engineering Systems Advanced research (CESAR) at Oak Ridge National Laboratory (ORNL). HERMIES-III is the fourth robot in a series of increasingly more sophisticated and capable experimental test beds developed at CESAR. HERMIES-III is comprised of a battery powered, onmi-directional wheeled platform with a seven degree-of-freedom manipulator arm, video cameras, sonar range sensors, laser imaging scanner and a dual computer system containing up to 128 NCUBE nodes in hypercube configuration. All electronics, sensors, computers, and communication equipment required for autonomous operation of HERMIES-III are located on board along with sufficient battery power for three to four hours of operation. The paper first provides a more detailed description of the HERMIES-III characteristics, focussing on the new areas of research and demonstration now possible at CESAR with this new test-bed. The initial experimental program is then described with emphasis placed on autonomous 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 paper concludes with a discussion of the integration problems and safety considerations necessarily arising from the set-up of an experimental program involving human-scale, multi-autonomous mobile robots performance. 10 refs., 3 figs.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 5883896
- Report Number(s):
- CONF-8909167-2; ON: DE89015916
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
420000* -- Engineering
99 GENERAL AND MISCELLANEOUS
990210 -- Supercomputers-- (1987-1989)
ARTIFICIAL INTELLIGENCE
AUTOMATION
CAMERAS
COMPUTER ARCHITECTURE
DIAGRAMS
EQUIPMENT
FLOWSHEETS
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MEASURING INSTRUMENTS
RANGE FINDERS
REMOTE HANDLING EQUIPMENT
RESEARCH PROGRAMS
ROBOTS
SAFETY
SONAR