Design and Development of Bomb Defusing Robot Controlled by Gesture

Abstract

Neutralizing explosives is one of precision and accuracy tasks handled by law enforcement personnel; it can be error-prone and life threatening. This paper seeks to demonstrate an improved use of remote controlled robots for Explosive Ordinance Disposal (EOD) using gesture manipulation. There exist a variety of EOD robots capable of handling different types of Explosives. This work is concerned with a class of EOD that uses the principle of wireless transmission of data packets within the ISM 2.4GHz spectrum, electrical H-Bridge circuits, servo-mechanisms and potential division in its underlying architecture and operation. The class is a fully integrated and non-autonomous system used by Law Enforcement Agents as First Responders. The developed EOD robot possesses two arms for gripping and manipulation. The robot arms are controlled by inputting commands on a handheld remote control or by human arm gesticulation. For gesture control, flexing the index finger closes the arm’s gripper, flexing the thumb moves the wheels forward and backward, tilting the back of the controlling hand tilts the robot’s elbow and rotating the wrist controls the waist.