Hermies-III: A step toward autonomous mobility, manipulation and perception

Autor:	R. R. Feezell, C.R. Weisbin, J. R. Einstein, W. W. Manges, B. L. Burks, D.H. Thompson
Rok vydání:	1990
Předmět:	Engineering Chassis business.industry General Mathematics Real-time computing Robotics Control engineering Autonomous robot Sonar Computer Science Applications Software Control and Systems Engineering Systems architecture Robot Artificial intelligence Autonomous system (mathematics) business
Zdroj:	Robotica. 8:7-12
ISSN:	1469-8668 0263-5747
Popis:	SUMMARYHERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omnidirectional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::f0de384628717c517a3f6a9e8e30e2d5 https://doi.org/10.1017/s0263574700007268 Zobrazit plný text záznamu