Kang, S. Cho, C. Lee, J. Ryu, D. Park, C. Shin, K.-C. Kim, M. 2024-01-12T08:45:26Z 2024-01-12T08:45:26Z 2022-03-07 2003-10 0000-0000 https://pubs.kist.re.kr/handle/201004/82634 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. English IEEE ROBHAZ-DT2: Design and Integration of Passive Double Tracked Mobile Manipulator System for Explosive Ordnance Disposal Conference 1 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2624 - 2629 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems 2624 2629 US Las Vegas, NV 2003-10-27 IEEE International Conference on Intelligent Robots and Systems 2-s2.0-0346778959