Remote-Direct-Drive Haptic Manipulators for Learning-Augmented Explosive Ordinance Disposal In Unstable and
Abstract
Robotic manipulators currently available for small underwater remotely-operated vehicles (ROVs), autonomous underwater vehicles (AUVs), and unmanned ground vehicles (UGVs) are typically heavy and stiff and are therefore very limited in their capabilities. We propose the development of a new manipulator that is lightweight, naturally haptic without using force/torque sensors, and pressure-tolerant for underwater deployment. Our manipulators are based on a new operating principle called Remote Direct-Drive (RDD), which places all drive motors in the vehicle base. There will be no sensors, motors, electronics, or wiring of any kind in the arms, and arm joints connect to the vehicle only via a lightweight and very low friction diaphragm-based hydrostatic transmission. Arm moving mass and joint friction will both be reduced by an order-of-magnitude compared to traditional electric or electrohydraulic actuators, enabling dynamic manipulation in visually-denied and degraded environments from an unstable moving platform. Unlike soft/inflatable manipulators, our approach will preserve high-bandwidth force control and dexterity, and preserve tactile vibrations from the environment without the addition of force sensors of any kind. Moreover, our RDD electric actuators will reduce operating power requirements and allow for neutrally-buoyant arms. This configuration also enables completely metal-free arms for sensitive applications such as explosive ordinance disposal (EOD). For this and other applications that require very gentle force interactions, having manipulators with a very small moving mass minimizes vehicle reaction torques, and minimizes inadvertent disruption of the target.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Apr 25, 2019
- Source ID
- N000141912131
Entities
People
- John C Whitney
Organizations
- Northeastern University
- Office of Naval Research
- United States Navy