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Proceedings Paper

Integration of a high degree of freedom robotic manipulator on a large unmanned ground vehicle
Author(s): Jared Giesbrecht; Blaine Fairbrother; Jack Collier; Blake Beckman
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Paper Abstract

The Multi-Agent Tactical Sentry Unmanned Ground Vehicle, developed at Defence R&D Canada - Suffield, has been in service with the Canadian Forces for five years. This tele-operated wheeled vehicle provides a capability for point detection of chemical, biological, radiological, and nuclear agents. Based on user experience, it is obvious that a manipulator capability would greatly enhance the vehicle's utility and increase its mobility in urban terrain. This paper details technical components of this development, and describes a number of trials undertaken to perform tasks with a manipulator arm such as picking up objects, opening vehicle and building doors, recording video, and creating 3D models of the environment. The lessons learned from these trials will guide further development of the technology.

Paper Details

Date Published: 7 May 2010
PDF: 10 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 769218 (7 May 2010); doi: 10.1117/12.852702
Show Author Affiliations
Jared Giesbrecht, Defence Research and Development Canada (Canada)
Blaine Fairbrother, Defence Research and Development Canada (Canada)
Jack Collier, Defence Research and Development Canada (Canada)
Blake Beckman, Defence Research and Development Canada (Canada)

Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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