A whole-body rescue motion control with task-priority strategy for a rescue robot

Abstract

This paper introduces a new rescue robot consisting of dual-manipulator and variable configuration mobile platform for multi-purpose such as casualty extraction and hazardous goods transport. A specific rescue motion strategy using a whole-body is suggested to tackle characteristics of the robot configuration and balancing issue. In order to take into account safety and stability of the robot during the rescue motions, some restrictions are reflected into redundant domain of the robot with different priority. For stable motion control in various scenarios, a singularityrobust inverse kinematics is adopted and modified to induce smoother robot movement. The robustness of the control approach is checked numerically by comparing other method and experiments for the rescue motion strategy are carried out by using a small-scaled simulator in place of the rescue robot under development.

Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles

“…Stilman 7 presents a global randomized motion planning method for joint space based on tangent-space sampling and first-order retraction. Lee et al 8 solve the inverse kinematic problem by the robust task priority (RTP)-closed-loop inverse kinematic algorithm with task-priority strategy.…”

“…The popular way is to use Jacobian inverse methods, where the collision-free constraints can be regarded as a subtask. [5][6][7][8] Those methods map the collision-free joint space vector into task space velocities based on the projection operator I À J y J (i.e. the null space of the transformation).…”

ResQbot 2.0: An Improved Design of a Mobile Rescue Robot with an Inflatable Neck Securing Device for Safe Casualty Extraction

“…Its upper torso is equipped with a heavy-duty dual-arm manipulator built on top of a mobile base with tank tracks on its thighs and calves. The battlefield extraction assist robot (BEAR) developed by Vecna Technologies [6,7], the combat robotic nursing assistant (cRoNA) [8] from Hstar Technologies [33], and the humanoid rescue robot for calamity response (HURCULES) robot [29] developed by the Agency for Defense Development, South Korea [34,35] are examples of a semi-humanoid form mobile robot platform, designed and developed specifically for casualty-extraction procedures (see Figure 1, BEAR, cRoNA, HURCULES). Compared to all previous designs, these robots are designed to be highly agile while performing casualty extraction using their arms by scooping, lifting up, and carrying the casualty (see Figure 2a).…”

Humanoid Robot Actuation through Precise Chemical Sensing Signals

“…As the world population of older adults increases toward 24% by 2030, the need for assistive robots in aging societies is increasing . The humanoid robot systems can assist humans with difficult tasks or work in a dangerous environment autonomously . The assistive robots will serve people more effectively from rehabilitation to daily life works as their sensing, judging, and performing action become more accurate and reliable .…”