Agile and dexterous robot for inspection and EOD operations

David A. Handelman; Gordon H. Franken; Haldun Komsuoglu

doi:10.1117/12.851251

7 May 2010 Agile and dexterous robot for inspection and EOD operations

David A. Handelman, Gordon H. Franken, Haldun Komsuoglu

Author Affiliations +

Proceedings Volume 7692, Unmanned Systems Technology XII; 769211 (2010) https://doi.org/10.1117/12.851251
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States

Abstract

The All-Terrain Biped (ATB) robot is an unmanned ground vehicle with arms, legs and wheels designed to drive, crawl, walk and manipulate objects for inspection and explosive ordnance disposal tasks. This paper summarizes on-going development of the ATB platform. Control technology for semi-autonomous legged mobility and dual-arm dexterity is described as well as preliminary simulation and hardware test results. Performance goals include driving on flat terrain, crawling on steep terrain, walking on stairs, opening doors and grasping objects. Anticipated benefits of the adaptive mobility and dexterity of the ATB platform include increased robot agility and autonomy for EOD operations, reduced operator workload and reduced operator training and skill requirements.

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David A. Handelman, Gordon H. Franken, and Haldun Komsuoglu "Agile and dexterous robot for inspection and EOD operations", Proc. SPIE 7692, Unmanned Systems Technology XII, 769211 (7 May 2010); https://doi.org/10.1117/12.851251

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