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
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
420203 -- Engineering-- Handling Equipment & Procedures
99 GENERAL AND MISCELLANEOUS
990210* -- Supercomputers-- (1987-1989)
ARTIFICIAL INTELLIGENCE
COMPUTER ARCHITECTURE
COMPUTER NETWORKS
DESIGN
DIAGRAMS
EQUIPMENT
FLOWSHEETS
LABORATORY EQUIPMENT
MAN-MACHINE SYSTEMS
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
NAVIGATION
REMOTE HANDLING EQUIPMENT
RESEARCH PROGRAMS
ROBOTS
SCALE MODELS
SPECIFICATIONS
STRUCTURAL MODELS