The System Design and Robotic Manipulation Skills of Dualarm Autonomous Mobile Robot for Bomb Removing

摘要

Abstract Bomb removing is a very challenging but valuable task in urban anti-terrorist or military applications. With the rapid development of technologies of intelligent robots in these years, the intelligence and security level of bomb removing process can be largely improved by using the autonomous mobile robotic systems. In this paper, a dual-arm autonomous mobile robot for bomb removing is proposed which is designed by Tsinghua University. The system design is introduced which mainly consists of the structure and multimodal perception module of the designed system. Besides, manipulation performance is one of the most important functional attributes in bomb removing. Therefore, the manipulation skills for the bomb removing applications are analyzed which adopt the idea of primitives, and skill decomposition and synthesis. Moreover, a knowledge graph for bomb removing is established in the paper and a knowledge based method for the manipulation skills learning is presented. Finally, simulations and experiments have been carried out in the platform to validate the proposed method in the paper and designed bomb removing mobile robot.