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Proceedings Paper

Multilateral haptics-based immersive teleoperation for improvised explosive device disposal
Author(s): David Erickson; Hervé Lacheray; John Daly
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Paper Abstract

Of great interest to police and military organizations is the development of effective improvised explosive device (IED) disposal (IEDD) technology to aid in activities such as mine field clearing, and bomb disposal. At the same time minimizing risk to personnel. This paper presents new results in the research and development of a next generation mobile immersive teleoperated explosive ordnance disposal system. This system incorporates elements of 3D vision, multilateral teleoperation for high transparency haptic feedback, immersive augmented reality operator control interfaces, and a realistic hardware-in-the-loop (HIL) 3D simulation environment incorporating vehicle and manipulator dynamics for both operator training and algorithm development. In the past year, new algorithms have been developed to facilitate incorporating commercial off-the-shelf (COTS) robotic hardware into the teleoperation system. In particular, a real-time numerical inverse position kinematics algorithm that can be applied to a wide range of manipulators has been implemented, an inertial measurement unit (IMU) attitude stabilization system for manipulators has been developed and experimentally validated, and a voice­operated manipulator control system has been developed and integrated into the operator control station. The integration of these components into a vehicle simulation environment with half-car vehicle dynamics has also been successfully carried out. A physical half-car plant is currently being constructed for HIL integration with the simulation environment.

Paper Details

Date Published: 17 May 2013
PDF: 13 pages
Proc. SPIE 8741, Unmanned Systems Technology XV, 87410I (17 May 2013); doi: 10.1117/12.2027067
Show Author Affiliations
David Erickson, Defence Research and Development Canada, Suffield (Canada)
Hervé Lacheray, Quanser Consulting Inc. (Canada)
John Daly, Quanser Consulting Inc. (Canada)

Published in SPIE Proceedings Vol. 8741:
Unmanned Systems Technology XV
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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