Manipulator Autonomy for EOD Robots

Abstract

This paper presents research that enhances the effectiveness of Explosive Ordnance Disposal (EOD) robots with autonomy and 3D visualization. It describes an approach where autonomous behaviors like Click and Go, Drag for Wire, and Click and Grasp are rapidly formed by combining foundational technologies like Resolved Motion, Inverse Kinematics, and 3D Visualization. Also presented is a flexible, JAUS-based architecture that supports new autonomous behaviors and future work that applies these manipulation advancements to mobility and navigation.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2008
Accession Number
ADA505699

Entities

People

  • Joel Alberts
  • John Edwads
  • Josh Johnson
  • Matt Berkemeier

Tags

Communities of Interest

  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Abstracts
  • Application Software
  • Autonomous Systems
  • Autonomy
  • Collision Avoidance
  • Control Systems
  • Engineering
  • Explosive Ordnance Disposal
  • Image Processing
  • Mobility
  • Navigation
  • Point Clouds
  • Robots
  • Three Dimensional
  • Two Dimensional
  • Visual Servoing
  • Visualizations

Fields of Study

  • Computer science

Readers

  • Munitions and Ordnance Engineering
  • Robotics and Automation.
  • Systems Analysis and Design

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy