rubble wrestling robot
DESCRIPTION
Rubble Wrestling Robot. What I’ll Be Talking About. Background Objective: Design Main Power Tethered Power Plant Supplemental Power Mobility Physical Shape Manipulation Controls Sensors Determining Location. Background. What is Urban Search and Rescue? Who is involved with USAR? - PowerPoint PPT PresentationTRANSCRIPT
![Page 1: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/1.jpg)
Rubble Wrestling Robot
![Page 2: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/2.jpg)
What I’ll Be Talking About• Background• Objective: Design
– Main Power– Tethered– Power Plant– Supplemental Power– Mobility– Physical Shape– Manipulation– Controls– Sensors– Determining Location
![Page 3: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/3.jpg)
Background
• What is Urban Search and Rescue?
• Who is involved with USAR?
• What do they do?
![Page 4: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/4.jpg)
Objective
• Develop design of robot– Teleoperated– For use in USAR– Capable of performing
• Victim location, aid• Rubble clearing• Shoring
![Page 5: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/5.jpg)
Main Power
![Page 6: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/6.jpg)
Tethered or Free?
• With Umbilical: Easier communication, power transmission
• Without Umbilical: Greater mobility
![Page 7: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/7.jpg)
Power Plant
• Batteries: Low power density
• HC engine: Emissions, hazardous
• Monopropellant (H2O2, etc.): Good compromise
![Page 8: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/8.jpg)
Hydrogen Peroxide, H2O2
• Advantages– Emits H2O and O2
– Power density• Disadvantages
– 1/3 energy of HC– Requires 90%+
concentration– Still developing robot
actuators
![Page 9: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/9.jpg)
Chemo-Hydraulic Actuator
• Vanderbilt University• 200 lbs through a 4-
inch stroke• Hydrogen peroxide• Hydroxyl ammonium
nitrate
• Improvements?
![Page 10: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/10.jpg)
Supplemental Power
• Required for supporting electronics– Sensors, logic, valve control, etc.– Lights, cameras, communication
• Batteries– Lithium ion– Nimh– Ni-Cad– Lead acid
![Page 11: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/11.jpg)
Mobility
![Page 12: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/12.jpg)
Mobility Overview
![Page 13: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/13.jpg)
Hyper-Redundant
• Howie Choset, Carnegie Melon
![Page 14: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/14.jpg)
Snake
• UC Berkeley
![Page 15: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/15.jpg)
Cockroach
• Biomimetic Robot• Rhex
– UC Berkeley– McGill University– U of Michigan
• Open-loop Control
![Page 16: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/16.jpg)
RHex
• Simple• Open-loop Control• Can Navigate
Unstructured Terrain• High Level Operation
![Page 17: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/17.jpg)
Tracked Motion
![Page 18: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/18.jpg)
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
![Page 19: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/19.jpg)
Physical Shape
• Segmented• Combined
– Snake– Roach
![Page 20: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/20.jpg)
Rubble Manipulation• Grippers on
Collapsible Arms
![Page 21: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/21.jpg)
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
![Page 23: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/23.jpg)
Haptic Interface
• Each arm has 6+1DOF
• Phantom from Sensable Technologies, Inc.
• Adapt a hand control
![Page 24: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/24.jpg)
Driving
• Two DOF
• Foot pedal
• Analog or digital
![Page 25: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/25.jpg)
Visual Feedback
• 2.4 GHz transceiver
• VR helmet
• PIP
• Augmented Reality
• Hemispherical lens
![Page 26: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/26.jpg)
Hands Free Options
![Page 27: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/27.jpg)
Voice Recognition
• PC based– High quality– CPU intensive
• Stand alone (Sensory Inc.)– Emerging
![Page 28: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/28.jpg)
Sensors
• Variety– Explosive– Toxic chemical– O2
– CO2
– Temp, sound, etc.• Diminutive
![Page 29: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/29.jpg)
Determining Location
• GPS• Beacons• Dead reckoning
![Page 30: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/30.jpg)
Conclusion
![Page 31: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/31.jpg)
Questions?
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Extra Slides
![Page 33: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/33.jpg)
• LCD screen for video• MEMS tilt sensor• Magnetic compass
![Page 34: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/34.jpg)
Dragan-Flyer
![Page 35: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/35.jpg)
Manipulator
![Page 36: Rubble Wrestling Robot](https://reader035.vdocuments.net/reader035/viewer/2022062502/56816390550346895dd4848d/html5/thumbnails/36.jpg)
Group Control