Improved Tele-Control for Manipulator Equipped Unmanned Ground Vehicles

A robust telepresence complemented with augmented reality cueing techniques and with very agile remote manipulation represents the ultimate teleoperation system, but aspects of it may not be cost effective, necessary or viable in specific EOD missions. Conversely, current EOD technology in the areas of manipulator design and control, situational awareness and teleoperation techniques may only require minor modifications to significantly extend the scope and increase the efficacy and adaptability of the EOD teleoperation process. Consequently, this program will prepare an extensive trade-off and cost-benefit analysis, which will include a comprehensive review of teleoperated EOD tasks. Subsequently, their degree of operational efficacy will be quantified and correlated with recommended improvements in fielded EOD equipment and also with the adoption of leading edge technologies such as telepresence robustness, advanced teleoperation techniques, augmented reality cues, end effector design and specialized tooling and manipulator characteristics such as kinematics, accuracy, force control, stability, and mechanical bandwidth. Also a white paper will be prepared that recommends manipulator design, control and tooling technology to address a broad spectrum of EOD teleoperation issues such as costs, dexterity, stable compliance control, bilateral teleoperation, dynamic accuracy, dual arm coordination, keyhole operations and overall operational efficiencies.