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

Abstract

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.

Authors:
; ; ; ; ;
Publication Date:
Research Org.:
Oak Ridge National Lab., TN (USA)
OSTI Identifier:
6880801
Report Number(s):
CONF-890153-1
ON: DE89004932
DOE Contract Number:  
AC05-84OR21400
Resource Type:
Conference
Resource Relation:
Conference: NASA conference on space telerobotics, Pasadena, CA, USA, 31 Jan 1989; Other Information: Portions of this document are illegible in microfiche products
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; 99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE; ROBOTS; DESIGN; ARTIFICIAL INTELLIGENCE; COMPUTER ARCHITECTURE; COMPUTERIZED CONTROL SYSTEMS; MANIPULATORS; MOBILITY; NAVIGATION; SAFETY; USES; CONTROL SYSTEMS; EQUIPMENT; LABORATORY EQUIPMENT; MATERIALS HANDLING EQUIPMENT; REMOTE HANDLING EQUIPMENT; 420200* - Engineering- Facilities, Equipment, & Techniques; 990210 - Supercomputers- (1987-1989)

Citation Formats

Weisbin, C R, Burks, B L, Einstein, J R, Feezell, R R, Manges, W W, and Thompson, D H. HERMIES-III: A step toward autonomous mobility, manipulation and perception. United States: N. p., 1989. Web.
Weisbin, C R, Burks, B L, Einstein, J R, Feezell, R R, Manges, W W, & Thompson, D H. HERMIES-III: A step toward autonomous mobility, manipulation and perception. United States.
Weisbin, C R, Burks, B L, Einstein, J R, Feezell, R R, Manges, W W, and Thompson, D H. Sun . "HERMIES-III: A step toward autonomous mobility, manipulation and perception". United States.
@article{osti_6880801,
title = {HERMIES-III: A step toward autonomous mobility, manipulation and perception},
author = {Weisbin, C R and Burks, B L and Einstein, J R and Feezell, R R and Manges, W W and Thompson, D H},
abstractNote = {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.},
doi = {},
url = {https://www.osti.gov/biblio/6880801}, journal = {},
number = ,
volume = ,
place = {United States},
year = {1989},
month = {1}
}

Conference:
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