Rubble Wrestling Robot

1
Rubble Wrestling
Robot
2
What Ill Be Talking About

• Background
• Objective Design
• Main Power
• Tethered
• Power Plant
• Supplemental Power
• Mobility
• Physical Shape
• Manipulation
• Controls
• Sensors
• Determining Location

3
Background

• What is Urban Search and Rescue?
• Who is involved with USAR?
• What do they do?

4
Objective

• Develop design of robot
• Teleoperated
• For use in USAR
• Capable of performing
• Victim location, aid
• Rubble clearing
• Shoring

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Main Power
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Tethered or Free?

• With Umbilical Easier communication, power
  transmission
• Without Umbilical Greater mobility

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Power Plant

• Batteries Low power density
• HC engine Emissions, hazardous
• Monopropellant (H2O2, etc.) Good compromise

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Hydrogen Peroxide, H2O2

• Advantages
• Emits H2O and O2
• Power density
• Disadvantages
• 1/3 energy of HC
• Requires 90 concentration
• Still developing robot actuators

9
Chemo-Hydraulic Actuator

• Vanderbilt University
• 200 lbs through a 4-inch stroke
• Hydrogen peroxide
• Hydroxyl ammonium nitrate
• Improvements?

10
Supplemental Power

• Required for supporting electronics
• Sensors, logic, valve control, etc.
• Lights, cameras, communication
• Batteries
• Lithium ion
• Nimh
• Ni-Cad
• Lead acid

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Mobility
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Mobility Overview
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Hyper-Redundant

• Howie Choset, Carnegie Melon

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Snake

• UC Berkeley

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Cockroach

• Biomimetic Robot
• Rhex
• UC Berkeley
• McGill University
• U of Michigan
• Open-loop Control

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RHex

• Simple
• Open-loop Control
• Can Navigate Unstructured Terrain
• High Level Operation

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Tracked Motion
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Combined Solution

• A hybrid between the snake and cockroach
• Can slither through low clearance
• Has simple high-speed mobility in the open
• Can navigate unstructured terrain

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Physical Shape

• Segmented
• Combined
• Snake
• Roach

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Rubble Manipulation

• Grippers on Collapsible Arms

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Controls

• Individual?
• Manual
• Gross motor control
• Fine
• Pedal
• Voice

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Manipulator DOF

• Position
• 3 DOF
• Orientation
• 3 DOF
• Gripper
• 1 DOF
• Height
• 1 DOF

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Haptic Interface

• Each arm has 61DOF
• Phantom from Sensable Technologies, Inc.
• Adapt a hand control

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Driving

• Two DOF
• Foot pedal
• Analog or digital

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Visual Feedback

• 2.4 GHz transceiver
• VR helmet
• PIP
• Augmented Reality
• Hemispherical lens

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Hands Free Options
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Voice Recognition

• PC based
• High quality
• CPU intensive
• Stand alone (Sensory Inc.)
• Emerging

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Sensors

• Variety
• Explosive
• Toxic chemical
• O2
• CO2
• Temp, sound, etc.
• Diminutive

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Determining Location

• GPS
• Beacons
• Dead reckoning

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Conclusion
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Questions?
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Extra Slides
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• LCD screen for video
• MEMS tilt sensor
• Magnetic compass

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Dragan-Flyer
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Manipulator
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Group Control