TY - JOUR
T1 - FC-EODR
T2 - Immersive Humanoid Dual-Arm Dexterous Explosive Ordnance Disposal Robot
AU - Jiang, Zhihong
AU - Ma, Yifan
AU - Cao, Xiaolei
AU - Shen, Minghui
AU - Yin, Chunlong
AU - Liu, Hongyang
AU - Cui, Junhan
AU - Sun, Zeyuan
AU - Huang, Xiao
AU - Li, Hui
N1 - Publisher Copyright:
© 2023 by the authors.
PY - 2023/3
Y1 - 2023/3
N2 - In this study, we proposes a humanoid dual-arm explosive ordnance disposal (EOD) robot design. First, a seven-degree-of-freedom high-performance collaborative and flexible manipulator is developed, aiming at the transfer and dexterous operation of dangerous objects in EOD tasks. Furthermore, an immersive operated humanoid dual-arm dexterous explosive disposal robot (FC-EODR) is designed, which has a high passability to complex terrains such as low walls, slope roads, and stairs. It can remotely detect, manipulate, and remove explosives in dangerous environments through immersive velocity teleoperation. In addition, an autonomous tool-changing system is constructed, which enables the robot to flexibly switch between different tasks. The effectiveness of the FC-EODR is finally verified through a series of experiments, including the platform performance test, manipulator load test, teleoperated wire trimming, and screw-screwing experiments. This letter provides the technical foundation for robots to replace humans in EOD tasks and emergency situations.
AB - In this study, we proposes a humanoid dual-arm explosive ordnance disposal (EOD) robot design. First, a seven-degree-of-freedom high-performance collaborative and flexible manipulator is developed, aiming at the transfer and dexterous operation of dangerous objects in EOD tasks. Furthermore, an immersive operated humanoid dual-arm dexterous explosive disposal robot (FC-EODR) is designed, which has a high passability to complex terrains such as low walls, slope roads, and stairs. It can remotely detect, manipulate, and remove explosives in dangerous environments through immersive velocity teleoperation. In addition, an autonomous tool-changing system is constructed, which enables the robot to flexibly switch between different tasks. The effectiveness of the FC-EODR is finally verified through a series of experiments, including the platform performance test, manipulator load test, teleoperated wire trimming, and screw-screwing experiments. This letter provides the technical foundation for robots to replace humans in EOD tasks and emergency situations.
KW - cooperative manipulator
KW - explosive ordnance disposal robot
KW - teleoperation
KW - tool design
KW - tracked robot
UR - http://www.scopus.com/inward/record.url?scp=85151390836&partnerID=8YFLogxK
U2 - 10.3390/biomimetics8010067
DO - 10.3390/biomimetics8010067
M3 - Article
AN - SCOPUS:85151390836
SN - 2313-7673
VL - 8
JO - Biomimetics
JF - Biomimetics
IS - 1
M1 - 67
ER -