HERMIES-III: A step toward autonomous mobility, manipulation and perception

Conference · Sun Jan 01 04:00:00 EST 1989

OSTI ID:6880801

Weisbin, C R; Burks, B L; Einstein, J R; Feezell, R R; Manges, W W; Thompson, D H

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., TN (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6880801
• Report Number(s): CONF-890153-1; ON: DE89004932
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420200* -- Engineering-- Facilities
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& Techniques
99 GENERAL AND MISCELLANEOUS
990210 -- Supercomputers-- (1987-1989)
ARTIFICIAL INTELLIGENCE
COMPUTER ARCHITECTURE
COMPUTERIZED CONTROL SYSTEMS
CONTROL SYSTEMS
DESIGN
EQUIPMENT
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MOBILITY
NAVIGATION
REMOTE HANDLING EQUIPMENT
ROBOTS
SAFETY
USES