Humanoid Robot for the Shipboard Hybrid Force
Abstract
The focus of the research will be to further develop the humanoid robot to become part of a hybrid force that is capable of effectively moving around a ship, interacting with humans through touch, and communicating with aerial vehicles used for scouting damage areas. This requires modifying the humanoid robot hardware as well as the software. The robot will contain a memory that includes a map of the ship, a base plan for navigation through the ship using the whole body planner, and location of critical objects for manipulation (fire hose, valves, etc.). A whole body planner will need to be integrated to provide locations of footsteps, hand holds and other body motions for navigation throughout the ship. In addition, the humanoid robot will need to communicate with the aerial vehicle for updated maps of damage areas for advanced planning prior to entering. Software will be developed to localize the robot onto this map. A mission based autonomy system will be incorporated into the robot so that a series of tasks can be performed with human supervision.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Aug 12, 2016
- Source ID
- N000141512128
Entities
People
- Brian Y. Lattimer
Organizations
- Office of Naval Research
- United States Navy
- Virginia Tech