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

1 January 1990

journal article
research article
Published by Cambridge University Press (CUP) in Robotica

Vol. 8 (1) , 7-12
https://doi.org/10.1017/s0263574700007268

Abstract

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.

Keywords

This publication has 3 references indexed in Scilit:

Real-Time Implementation of a Kinematic Optimization Scheme for Seven-Degree-of-Freedom Redundant Robots with Spherical Wrists
Published by Institute of Electrical and Electronics Engineers (IEEE) ,1988
Autonomous Navigation, Exploration, and Recognition Using the HERMIES-IIB Robot
IEEE Expert, 1987
Toward the realization of intelligent controls
Proceedings of the IEEE, 1979