Remote excavation using the telerobotic small emplacement excavator
Conference
·
OSTI ID:6510860
Oak Ridge National Laboratory is developing remote excavation technologies for the Office of Technology Development, Robotics Technology Development Program. This work is being done to meet the need for remote excavation and removal of radioactive and contaminated buried waste at several DOE sites. System requirements are based on the need to uncover and remove waste from burial sites in a way that does not cause unnecessary personnel exposure or additional environmental contamination. Goals for the current project are to demonstrate dexterous control of a backhoe with force feedback and to implement robotic operations that will improve productivity. The Telerobotic Small Emplacement Excavator is a prototype system that incorporates the needed robotic and telerobotic capabilities on a commercially available platform. The ability to add remote dexterous teleoperation and robotic operating modes is intended to be adaptable to other commercially available excavator systems.
- Research Organization:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Organization:
- DOE; DOD; USDOE, Washington, DC (United States); Department of Defense, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 6510860
- Report Number(s):
- CONF-930403-48; ON: DE93010334
- Country of Publication:
- United States
- Language:
- English
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