A miniature robotic system for reconnaissance and surveillance

Hougen, Dean F.; Benjaafar, S.; Bonney, J.; Budenske, John; Dvorak, Miroslav; Gini, Maria; French, H. B.; Krantz, Donald G.; Li, P.Y.; Malver, Fred; Nelson, B.; Papanikolopoulos, N.; Rybski, Paul E.; Stoeter, S.A.; Voyles, Richard M.; Yesin, K.B.

doi:10.1109/robot.2000.844104

Cited by 110 publications

(51 citation statements)

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“…Due to its miniature size compared to other pneumatic-actuated robots, the former can be deployed in search and rescue missions, for example, in earthquake crisis where gaps between rubbles are small [25]. They can also be deployed for reconnaissance or surveillance [26,27] on uneven or compliant terrains since legged walking on such surfaces are more efficient than rolling wheels [28,29]. With sufficient air supply, hovering capabilities can be integrated into this air-propelled robot, creating a versatile drone that can transverse air, land and sea.…”

Section: Discussionmentioning

confidence: 99%

Propulsion-Based Soft Robotic Actuation

Chua

Yeow

2017

Robotics

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Abstract:The use of air propulsion to drive limb motion in soft robotics has been a largely untapped field even though the technology has been around since the 1700s. Air propulsion can generate greater degrees of motion in limb actuators compared to widely-experimented pneumatic actuators operating on expandable air channels, which are limited by air pressure input, minimum size and cyclic fatigue. To demonstrate the application of air propulsion in soft robotics motion, we developed a 3D-printed, tri-pedal, soft, air-driven robot that can perform biomimetic motions such as flexion and extension of limbs, crawling, rotation, grasping, kicking and picking of objects. To accomplish air-propelled actuation, milli-scale channels are incorporated throughout each limb that guides the pressurized air inflow to outlets of different directions. A Finite Element Model (FEM) approach to simulate the bending response of the limb due to varying pressure is proposed and evaluated. This study introduces the potential of using air propulsion as an alternate form of soft body actuation for longer cyclic lifespan and increased maximum air pressure input.

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Section: Discussionmentioning

confidence: 99%

Propulsion-Based Soft Robotic Actuation

Chua

Yeow

2017

Robotics

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“…The goal of exploration is to gain as much information as possible of the environment, through the robot's sensors, within bounded time. Applications of efficient exploration include search and rescue (Kitano et al, 1999), planetary exploration (Apostolopoulos et al, 2001) and military uses (Hougen et al, 2000). The most common approach to exploration is based on frontiers.…”

Section: Introductionmentioning

confidence: 99%

Efficient frontier detection for robot exploration

Keidar

Kaminka

2013

The International Journal of Robotics Research

103

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“…surveillance of large areas (Hougen et al, 2000), search and rescue (Jennings et al, 1997), and large objectstransportation (Stouten and De Graaf, 2004), more efficiently than a single specialized robot (Cao et al, 1997). Other tasks are simply not accomplishable by a single mobile robot, demanding a group of coordinated robots to perform it, like the problem of sensors and actuators positioning (Bicchi et al, 2008), and the entrapment/escorting mission (Antonelli et al, 2008).…”

Section: Introductionmentioning

confidence: 99%