Development of the HERMIES III mobile robot research testbed at Oak Ridge National Laboratory
The latest robot in the Hostile Environment Robotic Machine Intelligence Experiment Series (HERMIES) is now under development at the Center for Engineering Systems Advanced Research (CESAR) in the Oak Ridge National Laboratory. The HERMIES III robot incorporates a larger than human size 7-degree-of-freedom manipulator mounted on a 2-degree-of-freedom mobile platform including a variety of sensors and computers. The deployment of this robot represents a significant increase in research capabilities for the CESAR laboratory. The initial on-board computer capacity of the robot exceeds that of 20 Vax 11/780s. The navigation and vision algorithms under development make extensive use of the on-board NCUBE hypercube computer while the sensors are interfaced through five VME computers running the OS-9 real-time, multitasking operating system. This paper describes the motivation, key issues, and detailed design trade-offs of implementing the first phase (basic functionality) of the HERMIES III robot. 10 refs., 7 figs.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 6342520
- Report Number(s):
- CONF-890304-22; ON: DE89004797
- Resource Relation:
- Conference: 3. topical meeting on robotics and remote systems, Charleston, SC, United States, 13 Mar 1989; Other Information: Portions of this document are illegible in microfiche products
- Country of Publication:
- United States
- Language:
- English
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42 ENGINEERING
ROBOTS
RESEARCH PROGRAMS
ARTIFICIAL INTELLIGENCE
COMPUTER ARCHITECTURE
COMPUTER NETWORKS
DESIGN
FLOWSHEETS
MAN-MACHINE SYSTEMS
MANIPULATORS
NAVIGATION
SCALE MODELS
SPECIFICATIONS
DIAGRAMS
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
REMOTE HANDLING EQUIPMENT
STRUCTURAL MODELS
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420203 - Engineering- Handling Equipment & Procedures