Sensor-based whole-arm obstacle avoidance for unstructured environments

Conference · Wed Jan 01 00:00:00 EST 1992

OSTI ID:7036551

Wintenberg, A L; Butler, P L; Babcock, S M; Ericson, M N; Armstrong, G A; Britton, Jr, C L; Hamel, W R

Whole-arm obstacle avoidance is needed for a variety of robotic applications in the Environmental Restoration and Waste Management (ER WM) Program. Typical industrial applications of robotics involve well-defined workspaces, allowing a predetermined knowledge of collision-free paths for manipulator motion. However, many hazardous environments are unstructured or poorly defined, providing a significant potential for collisions between manipulators and the environment. In order to allow applications of robotics in such situations, a sensing system is under development which will provide protection against collisions. Specifics of this system including system architecture and projected implementation are described.

• Research Organization: Oak Ridge National Lab., TN (United States)
• Sponsoring Organization: USDOE; USDOE, Washington, DC (United States)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 7036551
• Report Number(s): CONF-9210168-1; ON: DE92041265
• Resource Relation: Conference: 1992 American Nuclear Society (ANS) international conference, Chicago, IL (United States), 15-20 Oct 1992
• Country of Publication: United States
• Language: English

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INTEGRATED CIRCUITS
REMOTE SENSING
ROBOTS
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ELECTRICAL PROPERTIES
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