Hostname: page-component-78c5997874-lj6df Total loading time: 0 Render date: 2024-11-16T03:24:31.315Z Has data issue: false hasContentIssue false
  • English
  • Français

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

Published online by Cambridge University Press:  09 March 2009

C. R. Weisbin ,
B. L. Burks ,
J. R. Einstein ,
R. R. Feezell ,
W. W. Manges  and
D. H. Thompson
C. R. Weisbin
Affiliation:
Oak Ridge National Laboratory, Robotics and Intelligent Systems Program, Oak Ridge, TN 37831–6364 (USA)
B. L. Burks
Affiliation:
Oak Ridge National Laboratory, Robotics and Intelligent Systems Program, Oak Ridge, TN 37831–6364 (USA)
J. R. Einstein
Affiliation:
Oak Ridge National Laboratory, Robotics and Intelligent Systems Program, Oak Ridge, TN 37831–6364 (USA)
R. R. Feezell
Affiliation:
Oak Ridge National Laboratory, Robotics and Intelligent Systems Program, Oak Ridge, TN 37831–6364 (USA)
W. W. Manges
Affiliation:
Oak Ridge National Laboratory, Robotics and Intelligent Systems Program, Oak Ridge, TN 37831–6364 (USA)
D. H. Thompson
Affiliation:
Oak Ridge National Laboratory, Robotics and Intelligent Systems Program, Oak Ridge, TN 37831–6364 (USA)
Get access Rights & Permissions [Opens in a new window]

Summary

HERMIES-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.

Keywords

Autonomous mobilityHERMIES-IIIMulti-sensory perceptionHuman scale manipulative tasks
Type
Article
Information
Robotica , Volume 8 , Issue 1 , January 1990 , pp. 7 - 12
Copyright
Copyright © Cambridge University Press 1990

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Weisbin, C.R., “Intelligent-Machine Research at CESAR” AI Magazine 8, No. 1 (1987). CESAR-87/16.Google Scholar
2.Weisbin, C.R., de Saussure, G. and Kammer, D.W., “Self-Controlled: A Real-Time Expert System for an Autonomous Mobile Robot,” Computers in Mechanical Engineering, Vols. 2, 5, pp. 12–19 (09 1986). CESAR-86/25.Google Scholar
3.Hamel, W.R., Babcock, S.M., Hall, M.C.G., Jorgensen, C.C., Killough, S.M. and Weisbin, C.R., “Autonomous Robots for Hazardous and Unstructured Environments,” Proceedings of the Robots-10 Conference,Chicago, IL, 5–9 through5–29 (04 20–24, 1986).Google Scholar
4.Burks, B.L., de Saussure, G., Weisbin, C.R., Jones, J.P. and Hamel, W.R., “Autonomous Navigation, Exploration and Recognition,” IEEE Expert, 18–27 (Winter, 1987). CESAR-87/25.CrossRefGoogle Scholar
5.Weisbin, C.R., de Saussure, G., Einstein, J.R., Heer, E. and Pin, F.G., “CESAR Research in Autonomous Mobile Navigation and Learning” invited paper for IEEE Computer (06, 1989). CESAR-88/59.Google Scholar
6.Burks, B.L. and Spelt, P.F., “Ongoing Research Using HERMIES – The Hostile Environment Robotic Machine Intelligence Experiment Series” DOE–ANL Training Course on The Potential Safety Impact of New and Emerging Technologies on the Operation of DOE Nuclear Facilities Idaho Falls, ID. (08 29-09 1, 1988).CESAR-88/54.Google Scholar
7.Dubey, R.V., Euler, J.A. and Babcock, S.M., “Real-Time Implementation of a Kinematic Gradient Projection Optimization Scheme for Seven-Degree-of-Freedom Redundant Robots with Spherical Wrists” (submitted to J. Robotics and Automation, 06, 1988). CESAR-88/36.CrossRefGoogle Scholar
8.Dubey, R.V., Euler, J.A. and babcock, S.M., “An Efficient Gradient Projection Optimization Scheme for a Seven-Degree-of-Freedom Redundant Robot with Spherical Wrist” 1988 IEEE International Conference on Robots and Automation,April 25–29, 1988,Philadelphia, Pennsylvania, Proceedings 1, 28–36 (1988). CESAR-87/42.Google Scholar
9.Saridis, G.N., “Toward the Realization of Intelligent Controls” Proceedings of the IEEE 67, 1115 (1979).CrossRefGoogle Scholar
10.Albus, J., “A Control System Architecture for the Space Station Flight Telerobotic Servicer” Proceedings of the Space Telerobotics Workship, Jet Propulsion Laboratory, Pasadena, California (01, 1987).Google Scholar