Kang, S. Cho, C. Park, C. Lee, J. Ryu, D. Kim, M. 2024-01-21T02:32:03Z 2024-01-21T02:32:03Z 2022-01-10 2006-09 1610-7438 https://pubs.kist.re.kr/handle/201004/135160 In this paper, design and integration of ROBHAZ-DT2 is presented which is a newly developed mobile manipulator system. It is designed to carry out military and civilian missions in various hazardous environments. In developing the integrated ROBHAZ-DT2 system, we have focused on two issues: 1) novel mechanism design for mobility and manipulation and 2) intuitive user interface for teleoperation. In mechanism design, a double tracks connected by a passive joint has been designed to achieve high speed and rugged mobility on uneven terrain. In addition, a six-dof foldable manipulator suitable for the mobile manipulation has been designed. Secondly, a new compact 6-dof haptic device has been developed for teleoperation of the ROBHAZ-DT2. This haptic device is specially designed for simultaneous control both of the mobile base and the manipulator of ROBHAZ-DT2. As a result of integration of RobhAZ-DT2 and the user interface unit including the haptic device, we could successfully demonstrate a typical EOD task requiring abilities of mobility and manipulation in outdoor environment. ？ Springer-Verlag Berlin Heidelberg 2006. English Haptic interfaces Machine design Remote control Robotics User interfaces Design and integrations Explosive ordnance disposal Hazardous environment Intuitive user interface Mobile manipulation Mobile manipulator system Simultaneous control Tracked mobile manipulators Manipulators ROBHAZ-DT2: Passive double-tracked mobile manipulator for explosive ordinance disposal Article 10.1007/10991459_34 1 Springer Tracts in Advanced Robotics, v.24, pp.355 - 364 Springer Tracts in Advanced Robotics 24 355 364 scopus 2-s2.0-33748943505 Article Haptic interfaces Machine design Remote control Robotics User interfaces Design and integrations Explosive ordnance disposal Hazardous environment Intuitive user interface Mobile manipulation Mobile manipulator system Simultaneous control Tracked mobile manipulators Manipulators passive double track rough terrain mobile manipuator