Seite - 57 - in Proceedings of the OAGM&ARW Joint Workshop - Vision, Automation and Robotics

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