8 May 2010 Integration of a high degree of freedom robotic manipulator on a large unmanned ground vehicle
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Proceedings Volume 7692, Unmanned Systems Technology XII; 769218 (2010); doi: 10.1117/12.852702
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States
Abstract
The Multi-Agent Tactical Sentry Unmanned Ground Vehicle, developed at Defence R&D Canada - Suffield, has been in service with the Canadian Forces for five years. This tele-operated wheeled vehicle provides a capability for point detection of chemical, biological, radiological, and nuclear agents. Based on user experience, it is obvious that a manipulator capability would greatly enhance the vehicle's utility and increase its mobility in urban terrain. This paper details technical components of this development, and describes a number of trials undertaken to perform tasks with a manipulator arm such as picking up objects, opening vehicle and building doors, recording video, and creating 3D models of the environment. The lessons learned from these trials will guide further development of the technology.
© (2010) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Jared Giesbrecht, Blaine Fairbrother, Jack Collier, Blake Beckman, "Integration of a high degree of freedom robotic manipulator on a large unmanned ground vehicle", Proc. SPIE 7692, Unmanned Systems Technology XII, 769218 (8 May 2010); doi: 10.1117/12.852702; https://doi.org/10.1117/12.852702
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KEYWORDS
3D modeling

Cameras

Robotics

Inspection

Video

Unmanned ground vehicles

3D image processing

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