A preliminary study on a groping framework without external sensors to recognize near-environmental situation for risk-tolerance disaster response robots

Chen, Kui; Kamezaki, Mitsuhiro; Katano, Takahiro; Kaneko, Taisei; Azuma, Kohga; Uehara, Yusuke; Ishida, Tatsuzo; Seki, Masatoshi; Ichiryu, Ken; Sugano, Shigeki

doi:10.1109/ssrr.2017.8088161

Cited by 3 publications

(1 citation statement)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To provide visual telepresence feedback to operators during operations, our cameras are set up at different spots 3 at the remote station as typically used in evaluating response robots employing 3 cameras [141][142][143]. One camera is used to capture most of the motion of the arm from a top view provided by a tripod positioned behind the arm.…”

Section: Apparatusmentioning

confidence: 99%

Deployment Of Robot Arms With A Leader-Follower Approach For Bomb Disposal

Chau¹

2021

Preprint

View full text Add to dashboard Cite

<div>Improvised Explosive Devices (IEDs) have been developed over the years across many nations around the world. IEDs used by terrorist actions and in warfare cause devastating death, injuries and damage. To protect the public, many emergency responders have to risk their lives by performing extremely hazardous tasks such as interacting with suspected IEDs. To prevent the emergency response teams from being negatively impacted by IEDs, many different kinds of response robots have been deployed in many locations worldwide – allowing first responders a safe way to interact with these menaces from a distance. This thesis contributes to the understanding of using robot arms with a Leader–Follower (LF) approach to help humans with performing dexterous operations like those which are inevitably required for manipulating IEDs remotely. The LF approach allows operators to remotely manipulate a robot arm without putting operators’ lives in danger. By physically controlling one arm from a safe distance, operators can successfully copy its movements to a second arm. As a result, we argue, this approach can be helpful for minimizing operator risk when interacting with suspicious devices while at the same time facilitating more intuitive remote control.</div>

show abstract

Section: Apparatusmentioning

confidence: 99%

Deployment Of Robot Arms With A Leader-Follower Approach For Bomb Disposal

Chau¹

2021

Preprint

View full text Add to dashboard Cite

show abstract

A New Impedance Control Method for End Effector Manipulator of Autonomous Unmanned System

Zhao

Sun

Yao

2021

2021 China Automation Congress (CAC)

View full text Add to dashboard Cite

A framework of physically interactive parameter estimation based on active environmental groping for safe disaster response work

et al. 2021

View full text Add to dashboard Cite

Disaster response robots are expected to perform complicated tasks such as traveling over unstable terrain, climbing slippery steps, and removing heavy debris. To complete such tasks safely, the robots must obtain not only visual-perceptual information (VPI) such as surface shape but also the haptic-perceptual information (HPI) such as surface friction of objects in the environments. VPI can be obtained from laser sensors and cameras. In contrast, HPI can be basically obtained from only the results of physical interaction with the environments, e.g., reaction force and deformation. However, current robots do not have a function to estimate the HPI. In this study, we propose a framework to estimate such physically interactive parameters (PIPs), including hardness, friction, and weight, which are vital parameters for safe robot-environment interaction. For effective estimation, we define the ground (GGM) and object groping modes (OGM). The endpoint of the robot arm, which has a force sensor, actively touches, pushes, rubs, and lifts objects in the environment with a hybrid position/force control, and three kinds of PIPs are estimated from the measured reaction force and displacement of the arm endpoint. The robot finally judges the accident risk based on estimated PIPs, e.g., safe, attentional, or dangerous. We prepared environments that had the same surface shape but different hardness, friction, and weight. The experimental results indicated that the proposed framework could estimate PIPs adequately and was useful to judge the risk and safely plan tasks.

show abstract

A preliminary study on a groping framework without external sensors to recognize near-environmental situation for risk-tolerance disaster response robots

Cited by 3 publications

References 8 publications

Deployment Of Robot Arms With A Leader-Follower Approach For Bomb Disposal

Deployment Of Robot Arms With A Leader-Follower Approach For Bomb Disposal

A New Impedance Control Method for End Effector Manipulator of Autonomous Unmanned System

A framework of physically interactive parameter estimation based on active environmental groping for safe disaster response work

Contact Info

Product

Resources

About