Abstract This paper presents the development and control methodology of a military rescue robot for casualty extraction task. The new (HURCULES) equipped with electric actuators task on battle field is introduced. In this paper, mechanical designs HURCULES are described in detail. One noticeable features design to use worm gear joint maintain safety even power‐off reduce energy through selected operating mode. Moreover, unlike upper body conventional humanoid robot, chest plate installed...

Neural networks have been increasingly employed in Model Predictive Controller (MPC) to control nonlinear dynamic systems. However, MPC still poses a problem that an achievable update rate is insufficient cope with model uncertainty and external disturbances. In this paper, we present novel scheme can design optimal tracking controller using the neural network dynamics of MPC, making it possible be applied as plug-and-play extension for any existing model-based feedforward controller. We...

The goal of this article is to find an optimal and robust solution for on-line hierarchical least-squares optimization subject both equality inequality constraints. We focus on the reasoning about task regularization ensure convergence robustness a in face singularity. mixed problem inequality-constrained not fully discussed due mathematical complexity. address by formulating regularized quadratic programming. obtained unified computationally efficient manner leveraging singular value...

This paper proposes practical hardware design strategies and control methods for a rescue robot to save patients in disastrous environments. None of the existing humanoid robots have not shown capability efficiently execute tasks transferring human safe place highly unstructured world. To resolve this problem new form powerful dual arm mechanism hybrid tracked-legged mobile platform is developed motion synthesized with dynamics based optimization modified hierarchical scheme. These policies...

This paper describes a controller design method for the inertially stabilized system of tracking radar. Its aim is to track reference target trajectory with high accuracy while isolating rigid body rotational motions host ship. First, we investigate generation problem make control input on moving base. Second, dynamic equations motion are formulated by spring-mass-damper include dynamics as well structural flexibility. The unknown parameters estimated experimental and output data minimizing...

An active vibration suppression system is designed using a multiobjective state-feedback controller. The governing equation of motion for piezo/beam derived Hamilton's principle. control gains the resulting are selected theory robust controls. In this regard, controller feedback law that satisfies additional constraints on closed-loop pole location in face model uncertainties, which general class convex regions complex plane. These expressed terms linear matrix inequalities approach...

Abstract This paper proposes a novel design strategy and task‐priority‐based control methodology for robot to successfully complete rescue operation in an extremely unstructured environment. The mechanical structure is designed obtain both versatile manipulability all‐terrain mobility. regularized hierarchical quadratic program used whole‐body motion force control. optimization reasoning about regularization thus it ensures convergence of the solution face singularities while taking into...

This paper introduces an experimental rescue robot, HUBO T-100 for a development of Korean robot with large load carrying capacity and presents its optimal motion control methods. The mission the is to move lift patients or soldiers impaired mobility assistance in battlefields, hospitals, hazardous disastrous environments. Another includes dispose transfer dangerous object explosive ordnance. In order execute these kind missions, coordinated whole body motions need be synthesized. We are...

This paper introduces the Korean rescue robot and presents kinematic dynamic control method. The mission of is to move lift patients or soldiers with impaired mobility for assistance in battlefields, hospitals, hazardous disastrous environments. In order robots assist humans various environments, reliable dextrous manipulability are required. For these objects has variable configuration mobile platform tracks, dual arm manipulators two types grippers. electric actuators provide manipulator...

This paper introduces a rescue robot to extract casualty from hazardous environment and suggests specific whole-body behavior strategy suitable for the mission taking into account characteristics of configuration. Since has redundant degrees freedom, task-priority based CLIK as differential inverse kinematics approach is adopted real-time implementation domain utilized reflect some restrictions in terms safety stability robot. When multiple tasks with different priority are handled...

We propose a new hardware design and control strategy for rescue robot to enhance its manipulation capability ensure driving stability in highly unstructured environment. The is redesigned efficiently an impaired person lying on the ground dispose of dangerous object. singularity robust hierarchical inverse kinematics method used achieve versatile kinematic dynamic tasks, where task priority established among motion primitives precisely resolve confliction. An active force scheme implemented...

This paper introduces an experimental rescue robot, HUBO T-100 and presents the optimal motion control method. The objective of robot is to extract patients or wounded soldiers in battlefield hazardous environments. Another mission dispose transport explosive ordnance safe places. To execute these missions, upper body humanoid form various kinds tasks. lower features a hybrid tracked/legged design, which allows for variety mode locomotion, depending on terrain conditions order increase...

This paper handles self-collision avoidance for a rescue robot with redundant manipulators. In order to detect all available self-collisions in advance, minimum distances between arbitrary parts should be monitored real-time. For the distance estimation, we suggest modified method from previous skeleton algorithm which has less computation burden and realize collision based on potential function using proposed algorithm. The resultant command by not disturb given primary task, so null-space...

함정 전투체계의 운용개념 및 탐색 레이더의 운용성능을 고려하여 설계된 안테나는 반도체형 송수신기들로 구성된 능동배열안테나 시스템이다. 안테나 시스템을 구성하는 전자장비들을 배치하면, 전체 형상은 상당히 큰 크기의 박스 형태가 된다. 마스트에 장착되어 기계적으로 회전하는 안테나시스템은 가혹한 외부 환경으로부터 내부 장비를 보호하기 위해 밀폐된 하우징을 사용한다. 하우징의 외부형상을 결정할 때, 기존 설계는 강풍이 존재하더라도 정상 회전 유지가 중요한 설계 고려 요소이다. 최근에 함정의 생존성을 증대시키기 저피탐 설계가 요구된다. 따라서 본 연구에서는 설계요소를 추가하여 제안된 4 가지 모델에 대해서 형상 설계를 분석하였다.

This paper describes a controller design method for inertially stabilized system of tracking radar. Its aim is to track reference target trajectory while isolating any rigid body motion host ship. First, we treat the generation problem make control input on moving base. Second, dynamic equation formulated by spring-mass-damper include dynamics as well structural flexibility. The unknown parameters are estimated with experimental output data minimizing predicted error. Third, mixed...

This paper introduces a rescue robot (HURCULES: HUmanoid ResCUe for caLamity rESponse) that has been developed to extricate casualty and tackle dangerous goods in hazardous environments. The consists of track-based mobile platform dual-manipulator both mobility mission capability. is operated remotely by Remote Control Unit (RCU) GUI joystick delivers arbitrary realtime commands related the rate end-effector pose. In case operation mode with joystick, particular, it unable verify reliability...

This paper introduces a Korean rescue robot and presents whole body kinematic control strategy. The mission of the is to move lift patients or soldiers with impaired mobility in battlefields, hospitals hazardous environments. In order for assist humans, reliable various environments, large load carrying capacity, dextrous manipulability are required. For these objects has variable configuration mobile platform tracks, dual arm manipulator, two types grippers. electric actuators provide...