Hermies-III: A step toward autonomous mobility, manipulation and perception

HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omnidirectional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 node...

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Bibliographic Details
Published in:Robotica 1990-01, Vol.8 (1), p.7-12
Main Authors: Weisbin, C. R., Burks, B. L., Einstein, J. R., Feezell, R. R., Manges, W. W., Thompson, D. H.
Format: Article
Language:English
Subjects:
Applied sciences
Autonomous mobility
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
HERMIES-III
Human scale manipulative tasks
Multi-sensory perception
Robotics
sensors
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Summary:HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omnidirectional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574700007268