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Concept and Implementation of a Tele-operated Robot
for ELROB 2016*
Florian Fuchslocher1,2, Martin Rambausek1, Wilfried Kubinger1 and Bernhard Peschak2
Abstract—The current use of mobile robots in search and
rescue scenarios likenatural orman-madedisasters is often re-
quiredtoprotectemergencyresponsepersonnel fromdangerous
situations and support them in their work. At the same time
the localisation and rescue of victims has to be achieved fast
and reliable.However, a fully autonomously controlled robot is
highly sophisticated andneedsmany sensor componentswhose
datahas tobe combined.Due to this fact,mostly a combination
of a tele-operating system and a fully autonomous system is
implemented.
This paper focuses on developing a concept for a taurob
robot forparticipating in theEuropeanLandRobotTrials 2016
(ELROB).Theaimis to integrate suitable sensors into therobot
systemandto implementa tele-operatingmode.Theselectionof
the sensors is based on criteria’s of the competition’s scenarios.
For the implementation of the tele-operatingmode, the Robot
OperatingSystem (ROS) is used.Twovariants, akeyboardand
anXbox Controller, are tested to steer the robot.
The obtained results show that operating the robot by
the Xbox controller is easier and more precise than by the
keyboard. Combined with the sensors, the system shows an
overall solidperformanceandprovides a goodbasis for further
development.
I. INTRODUCTION
Disaster control and its dangers are a big topic, that can be
covered by robots to protect rescuers from hazardous envi-
ronments [5].TheEuropeanLandRobotTrial isaconvention
for showing the abilities of different unmanned systems
in realistic scenarios [2]. The aims are headed towards
the greatest possible autonomy and strong performance. To
participate at ELROB 2016 the servicerobot Robbie was
designed to fulfill the requirements of three different scenar-
ios [3]. This robotic system is based on an Austrian robot
platform from the company taurob [1] and was developed to
compete in the challenges of three scenarios. Reconnoitring
of structures (e.g., mapping), search and rescue (find and
drag a dummy body) and Reconnaissance and disposal of
bombs and explosive devices (EOD/IED). To achieve results
in these challenges, several sensors and a controlling system
were integrated to the robot. In the following, these systems
are specified and their performance is discussed.
*This project has been partly funded by MA23 - City of Vienna within
the Project Call 16-02 ”Photonics: Foundations and industrial applications”.
1Florian Fuchslocher, Martin Rambausek and Wilfried
Kubinger are with University of Applied Sciences Technikum
Wien, Hoechstaedtplatz 6, 1200 Vienna, Austria, email:
wilfried.kubinger@technikum-wien.at
2Florian Fuchslocher and Bernhard Peschak are with the Austrian
Armed Forces, Rossauer Laende 1, 1090 Vienna, Austria, email:
bernhard.peschak@bmlvs.gv.at II. SYSTEM OVERVIEW
The system consists of the robot vehicle and its selected
sensor components.
A. Robot Vehicle
Thebasisof thisproject isaTaurobrobot [1]. It isa rugged
mobile service robot, which is driven differentially and has
capabilities to handle rough terrain. The robot structures
itself into the base, the wheels and the wheeled driven rubber
tracks. For a better climbing performance, it is also possible
to adjust the latter ones in height by the robot’s driving
motors. This function makes it able to climb slopes and stairs
up to 45 degrees and obstacles up to 35cm in height. The
robot iswaterproofanddesignedforharshenvironments, too.
Interactionwith its environment is achievedby the robotarm,
which has the strength to pull a body with 20kg in weight.
Additionally, the robot is equipped with Ethernet ports to
allow easy integration of various hardware components like
the robot arm and sensors.
Moreover, the upper side of the robot base includes a
voltage supply socket. It provides two voltage levels, one
stabilized 12V (max. 4A) and a 24V (max. 5A) battery
voltage. These two voltage levels make it possible to power
allusedhardwarecomponents.Therobot’s integratedWLAN
router achieves a wireless communication between the robot
and a laptop. Fig. 1 shows an example of the Taurob robot
with all integrated sensor components.
Fig. 1. Sensor setup of Robbie
B. Robot Periphery
For participating in all ELROB scenarios, a stereo vision
system, several Cameras, two laser scanners, a robot arm
including a nuclear sensor and a hook, a GPS module and an
embedded computer are integrated to the robot’s periphery.
All hardware components are essential for the tele-operator
57
Proceedings of the OAGM&ARW Joint Workshop
Vision, Automation and Robotics
- Titel
- Proceedings of the OAGM&ARW Joint Workshop
- Untertitel
- Vision, Automation and Robotics
- Autoren
- Peter M. Roth
- Markus Vincze
- Wilfried Kubinger
- Andreas MĂĽller
- Bernhard Blaschitz
- Svorad Stolc
- Verlag
- Verlag der Technischen Universität Graz
- Ort
- Wien
- Datum
- 2017
- Sprache
- englisch
- Lizenz
- CC BY 4.0
- ISBN
- 978-3-85125-524-9
- Abmessungen
- 21.0 x 29.7 cm
- Seiten
- 188
- Schlagwörter
- Tagungsband
- Kategorien
- International
- Tagungsbände