NAME
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Skyler Dalley and Brian Guerriero |
PROJECT
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Testbed 4: Compact Rescue Crawler |
ABSTRACT
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The objective of the Compact Rescue Crawler (CRC) testbed is to develop and demonstrate a fluid-powered compact robot crawler with significantly improved force, power, and energy capabilities relative to motor/battery-powered versions, and to demonstrate intuitive, effective, and efficient human control of the multi-legged testbed. The CRC operator control will be comprised of three levels of autonomy: 1) a standard driving gate with only direction and speed commanded; 2) a semiautonomous scrambling gait with direct user control of the front two legs and autonomous following of the trailing legs; and 3) manual control with direct control of each leg sequentially (for the most demanding situations). The middle level of autonomy is the focus of work at Georgia Tech. It extends the demanding multifunctional controls of current mobile equipment to a new level relevant to future machines with many interacting functions. The current haptic control of a single leg will be described with the plan for extending this to a multi-modal interface employing augmented reality. Characteristics of expected users are being studied by NCAT and will be incorporated in the evolving design of the interface. |