Hstar proposes an advanced high-strength dexterous bi-manual mobile manipulator (HD-Man) system for EOD robotic platforms to investigate and interrogate Unexploded Ordnances (UXOs) and Improvised Explosive Devices (IEDs). The proposed HD-Man will be designed and developed by integrating lightweight high power density actuators, series elastic actuator for force sensing and compliant manipulator, and hydraulic transmission for enhancing the capabilities of EOD robot. This system will; 1) have high mechanical efficiency and high power-to-weight ratio, 2) support ergonomic and synchronous mobile manipulation control in telepresence operation, (3) provide sufficient control bandwidth, range of motion, force control accuracy, and ease of use by natural means, 4) be compact, light-weight and suitable for system integration, and 5) provide sufficient capability to lift heavy loads and a high gripper capacity. Our primary innovation includes a bi-manual dexterous robotic manipulation that is desirable to enhance gripping and lifting capabilities and efficiency for EOD operations. We will leverage the dexterous manipulation and heavy lifting technologies available at Hstar. The state of art HD-Man will be a high strength compact actuation based dexterous bi-manual manipulator for advanced gripping and heavy lifting. It will also incorporate the JAUS protocols for integration with networked command and control systems
Keywords: Eod Robotic Platform, High-Strength And Dexterous Mobile Manipulator, Humanoid Bimanual Torso, High Power Density Actuator, Hydraulic Transmission, Zmp Stability, Telepresence
