Human-Like Characteristics for High Degree of Freedom Robotic Door-Opening End-Effector

Abstract

In the field of military Unmanned Ground Vehicles (UGV's), military units are forced to sweep largely populated cities and towns in search of hostile enemies. These urban types of operations are referred to as MOUT (Military Operations on Urban Terrain). During urban operations, these UGV's encounter difficulties when opening doors. Current manipulator end effectors have these difficulties, because they are not designed to mimic human hand operations. This paper explains the mechanical nature of the Modular Universal Door Opening End-effector (MUDOE). MUDOE is a result of our development research to improve robotic manipulators ability to negotiate closed doors. The presented solution has the ability to mimic human hand characteristics when opening doors. The end-effector possesses an ability to maintain a high Degree of Freedom (DoF), and grasp the doorknob by applying equally distributed forces to all points of contact.

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Document Details

Document Type
Technical Report
Publication Date
Apr 27, 2011
Accession Number
ADA542169

Entities

People

  • Frank Campagna
  • Jeremy P. Gray

Organizations

  • United States Army Tank Automotive Research, Development and Engineering Center

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Actuators
  • Circuit Boards
  • Control
  • Ground Vehicles
  • Information Operations
  • Load Distribution
  • Manipulators
  • Military Applications
  • Military Operations
  • Printed Circuit Boards
  • Printed Circuits
  • Tools
  • Unmanned Ground Systems
  • Unmanned Ground Vehicles
  • Unmanned Systems
  • Vehicles

Readers

  • Military History / Militaries and War Studies
  • Robotics and Automation.
  • Urban Planning and Geography.

Technology Areas

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