Abstract

Homemade bombs made by terrorists threaten seriously the social public security. Now, it is still a challenge to guarantee safety without destroying bombs. Compared with the destructive explosive disposal approach employing rigid robots, we proposed an in-situ explosive disposal method, which takes advantage of an extensible continuum manipulator to pass through obstacles and cut wires by end-effector. The spring-based continuum manipulator has six-degrees-of-freedom and is 400 mm in length but only 15 mm in diameter. Also, we have created only a 15 g end-effector that can cut 1-mm-diameter copper wire and embed a miniature camera. According to the experiment, a single continuum manipulator has around 2 mm repeatability accuracy and can carry a 50 g weight. Without special training, the operator can control the integrated explosive ordnance disposal (EOD) robot to complete a simulation mission in approximately five minutes. This paper broadens the application of the continuum manipulator and gives a unique solution for EOD robots.

References

1.
Xu
,
K.
,
Zhao
,
J.
, and
Fu
,
M.
,
2015
, “
Development of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy
,”
IEEE/ASME Trans. Mechatron.
,
20
(
5
), pp.
2133
2145
.
2.
Kim
,
J.
,
Choi
,
W.
,
Kang
,
S.
,
Kim
,
C.
, and
Cho
,
K.
,
2019
, “
Continuously Variable Stiffness Mechanism Using Nonuniform Patterns on Coaxial Tubes for Continuum Microsurgical Robot
,”
IEEE Trans. Rob.
,
35
(
6
), pp.
1475
1487
.
3.
Hu
,
Y.
,
Zhang
,
L.
,
Li
,
W.
, and
Yang
,
G.
,
2019
, “
Design and Fabrication of a 3-D Printed Metallic Flexible Joint for Snake-Like Surgical Robot
,”
IEEE Rob. Autom. Lett.
,
4
(
2
), pp.
1557
1563
.
4.
Gao
,
Y.
,
Takagi
,
K.
,
Kato
,
T.
,
Shono
,
N.
, and
Hata
,
N.
,
2020
, “
Continuum Robot With Follow-the-Leader Motion for Endoscopic Third Ventriculostomy and Tumor Biopsy
,”
IEEE. Trans. Biomed. Eng.
,
67
(
2
), pp.
379
390
.
5.
Wang
,
M.
,
Dong
,
X.
,
Ba
,
W.
, and
Mohammad
,
A.
,
2021
, “
Design, Modelling and Validation of a Novel Extra Slender Continuum Robot for In-situ Inspection and Repair in Aeroengine
,”
Rob. Comput.-Integr. Manuf.
,
67
, p.
102054
.
6.
Neumann
,
M.
, and
Burgner-Kahrs
,
J.
,
2016
, “
Considerations for Follow-the-Leader Motion of Extensible Tendon-Driven Continuum Robots
,”
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
,
Stockholm, Sweden
,
May 16–21
, pp.
917
923
.
7.
Jiang
,
H.
, and
Wang
,
Z.
,
2021
, “
Hierarchical Control of Soft Manipulators Towards Unstructured Interactions
,”
Int. J. Rob. Res.
,
40
(
1
), pp.
411
434
.
8.
Alatorre
,
D.
,
2019
, “
Teleoperated, In Situ Repair of an Aeroengine: Overcoming the Internet Latency Hurdle
,”
IEEE Rob. Autom. Mag.
,
26
(
1
), pp.
10
20
.
9.
Tokunaga
,
T.
,
Oka
,
K.
, and
Harada
,
A.
,
2017
, “
1segment Continuum Manipulator for Automatic Harvesting Robot—Prototype and Modeling
,”
Proceedings of the IEEE International Conference on Mechatronics and Automation
,
Takamatsu, Kagawa, Japan
,
Aug. 6–9
, pp.
1655
1659
.
10.
Frazelle
,
C. G.
,
Kapadia
,
A. D.
, and
Walker
,
I. D.
,
2020
, “
A Haptic Continuum Interface for the Teleoperation of Extensible Continuum Manipulators
,”
IEEE Rob. Autom. Lett.
,
5
(
2
), pp.
1875
1882
.
11.
Kolachalama
,
S.
, and
Lakshmanan
,
S.
,
2020
, “
Continuum Robots for Manipulation Applications: A Survey
,”
J. Rob.
,
2020
, pp.
1
19
.
12.
Schoor
,
W.
,
Förster
,
M.
, and
Radetzky
,
A.
,
2012
, “
Realistic Training Simulations of Explosive Ordnance Disposal & Improvised Explosive Device Disposal Robots
,”
Proceedings of the IEEE 10th International Conference on Industrial Informatics
,
Beijing, China
,
July 25–27
, pp.
875
880
.
13.
Ibarra
,
A.
,
Cóndor
,
A.
,
Martínez
,
P.
, and
Tipán
,
E.
,
2020
, “
Control Reengineering Used for Rehabilitation of Andros Remotec Bomb Disposal Robot
,”
Proceedings of the 2020 IEEE ANDESCON
,
Barranquilla, Colombia
,
Oct. 13–16
, pp.
1
6
.
14.
Constantin
,
D.
, and
Toma
,
V.-F.
,
2018
, “
TVF-1: Experimental Model of an EOD Robot
,”
J. Mil. Technol.
,
1
(
2
), pp.
51
56
.
15.
Wu
,
Y.-N.
, and
Norton
,
A.
,
2021
, “
Characterizing the Effects of Explosive Ordnance Disposal Operations on the Human Body While Wearing Heavy Personal Protective Equipment
,”
Hum. Factors
,
64
(
7
), pp.
1137
1153
.
16.
The Creators of Apple Siri Built a Robot That Can Dismantle Bombs or Perform Surgery
,” https://www.cnbc.com/2018/03/23/sri-built-the-taurus-robot-to-dismantle-bombs-or-perform-surgery.html, Accessed January 27, 2022.
17.
Yan
,
J.
,
Chen
,
J.
,
Chen
,
J.
,
Yan
,
W.
,
Ding
,
Q.
,
Yan
,
K.
,
Du
,
J.
,
Lam
,
C. P.
,
Wong
,
G. K. C.
, and
Cheng
,
S. S.
,
2022
, “
A Continuum Robotic Cannula With Tip Following Capability and Distal Dexterity for Intracerebral Hemorrhage Evacuation
,”
IEEE. Trans. Biomed. Eng.
,
69
(
9
), pp.
2958
2969
.
18.
Yoon
,
H.-S.
, and
Yi
,
B.-J.
,
2009
, “
A 4-DOF Flexible Continuum Robot Using a Spring Backbone
,”
Proceedings of the 2009 International Conference on Mechatronics and Automation
,
Changchun, Jilin, China
,
Aug. 9–12
, pp.
1249
1254
.
19.
Li
,
M.
,
Kang
,
R.
,
Geng
,
S.
, and
Guglielmino
,
E.
,
2018
, “
Design and Control of a Tendon-Driven Continuum Robot
,”
Trans. Inst. Meas. Control
,
40
(
11
), pp.
3263
3272
.
20.
Qi
,
P.
,
Qiu
,
C.
,
Liu
,
H.
,
Dai
,
J. S.
,
Seneviratne
,
L. D.
, and
Althoefer
,
K.
,
2016
, “
A Novel Continuum Manipulator Design Using Serially Connected Double-Layer Planar Springs
,”
IEEE/ASME Trans. Mechatron.
,
21
(
3
), pp.
1281
1292
.
21.
Xu
,
Y.
,
Peyron
,
Q.
,
Kim
,
J.
, and
Burgner-Kahrs
,
J.
,
2021
, “
Design of Lightweight and Extensible Tendon-Driven Continuum Robots Using Origami Patterns
,”
Proceedings of the 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft)
,
New Haven, CT
,
Apr. 12–16
, pp.
308
314
.
22.
Peng
,
X.
,
Zhang
,
N.
,
Ge
,
L.
, and
Gu
,
G.
,
2019
, “
Dimension Optimization of Pneumatically Actuated Soft Continuum Manipulators
,”
Proceedings of the 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)
,
Seoul, South Korea
,
Apr. 14–18
, pp.
13
18
.
23.
Della Santina
,
C.
, and
Robert
,
K.
,
2021
, “
Editorial: Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots
,”
Int. J. Rob. Res.
,
40
(
1
), pp.
3
6
.
24.
Nguyen
,
T.
, and
Burgner-Kahrs
,
J.
,
2015
, “
A Tendon-Driven Continuum Robot With Extensible Sections
,”
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, Sept. 28–Oct. 2
, pp.
2130
2135
.
25.
Amanov
,
E.
,
Nguyen
,
T.-D.
, and
Burgner-Kahrs
,
J.
,
2021
, “
Tendon-Driven Continuum Robots With Extensible Sections—A Model-Based Evaluation of Path-Following Motions
,”
Int. J. Rob. Res.
,
40
(
1
), pp.
7
23
.
26.
Webster
,
R. J.
, and
Jones
,
B. A.
,
2010
, “
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review
,”
Int. J. Rob. Res.
,
29
(
13
), pp.
1661
1683
.
27.
Rao
,
P.
,
Peyron
,
Q.
,
Lilge
,
S.
, and
Burgner-Kahrs
,
J.
,
2021
, “
How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance
,”
Front. Rob. AI
,
7
, p.
223
.
You do not currently have access to this content.