Title :
Development of ALACRANE: A Mobile Robotic Assistance for Exploration and Rescue Missions
Author :
García-Cerezo, A. ; Mandow, A. ; Martínez, J.L. ; Gómez-De-Gabriel, J. ; Morales, J. ; Cruz, A. ; Reina, A. ; Serón, J.
Author_Institution :
Dept. de Eng. de Sist. y Autom., Univ. de Malaga, Malaga
Abstract :
The paper presents ALACRANE, a new mobile robot assistant for exploration and rescue missions with dexterous load manipulation capability. ALACRANE consists of a tracked vehicle with a 4-DOF articulated arm, whose end-effector is an independent pair of 3-DOF manipulators (LR-Arms) plus a common rotation on the main arm wrist. All actuators are hydraulic in order to provide a high power-to-size ratio for both traction and manipulation. The system is equipped with CCD and IR cameras and a 3D-laser scanner for victim detection and environment perception. Three operation modes have been envisaged for the robot: navigation, main arm positioning, and LR-Arms operation. The control architecture provides different levels of autonomy and tele-operation for each mode. Preliminary tests with the actual system are presented.
Keywords :
dexterous manipulators; emergency services; end effectors; hydraulic actuators; mobile robots; navigation; object detection; position control; robot vision; telerobotics; 3D-laser scanner; ALACRANE; CCD camera; IR camera; articulated arm; control architecture; dexterous load manipulation; end effector; environment perception; exploration; hydraulic actuators; mobile robotic assistance; rescue missions; robot arm operation; robot arm positioning; robot navigation; teleoperation; traction; victim detection; Cameras; Charge coupled devices; Charge-coupled image sensors; Hydraulic actuators; Infrared detectors; Manipulators; Mobile robots; Robot vision systems; Vehicles; Wrist; Mobile manipulators; Mobile robots; Search and rescue;
Conference_Titel :
Safety, Security and Rescue Robotics, 2007. SSRR 2007. IEEE International Workshop on
Conference_Location :
Rome
Print_ISBN :
978-1-4244-1568-7
Electronic_ISBN :
978-1-4244-1569-4
DOI :
10.1109/SSRR.2007.4381269
