Control System of the Explosive Ordnance Disposal Robot Based on Active Eye-to-Hand Binocular Vision

Aiming at the disadvantages of manual operation and remote control of the EOD robot and to meet the demand of the technology and tactics, we propose a mobile robotic manipulation system equipped with an active eye-tohand binocular vision sensor. The active vision system is able to observe arm gesture of a user by visually recognizing features on the arm and reconstructing the arm pose in Cartesian space. The target that is suspicious can thus be identified based on the arm pose. If confirmed, a vision based control law is able to drive the robot toward the target position and to fetch the target by the robotic arm. Experiments indicate that the proposed design of automatic control system is effective.