Distributed control for a modular, reconfigurable cliff robot

Pirjanian, Paolo; Leger, Chris; Mumm, E.; Kennedy, Brian; Garrett, Michael; Aghazarian, Hrand; Farritor, Shane; Schenker, Paul S.

doi:10.1109/robot.2002.1014381

Cited by 26 publications

(23 citation statements)

References 7 publications

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“…They use a variety of techniques, such as tracks that conform to the shape of the terrain [56], active or rocker-bogie suspension [13,24,50], and rappelling [43]. None of these techniques scale up to vertical terrain.…”

Section: Track and Legged Robotsmentioning

confidence: 99%

Toward Autonomous Free-Climbing Robots

Latombe

Rock

2005

Springer Tracts in Advanced Robotics

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Abstract. The goal of this research is to enable a multi-limbed robot to climb vertical rock using techniques similar to those developed by human climbers. The robot consists of a small number of articulated limbs. Only the limb end-points can make contact with the environment-a vertical surface with small, arbitrarily distributed features called holds. A path through this environment is a sequence of one-step climbing moves in which the robot brings a limb end-point to a new hold. The robot maintains balance during each move by pushing and/or pulling at other holds, exploiting contact and friction at these holds while adjusting internal degrees of freedom to avoid sliding. The paper first considers a planar three-limbed robot, then a 3-D four-limbed robot modeled after a real hardware system. It proposes an efficient test of the quasi-static equilibrium of these robots and describes a fast planner based on this test to compute one-step climbing moves. This planner is demonstrated in simulation for both robots.

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Section: Track and Legged Robotsmentioning

confidence: 99%

Toward Autonomous Free-Climbing Robots

Latombe

Rock

2005

Springer Tracts in Advanced Robotics

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“…We believe that SPIDAR, a new SPIDAR: Self-rappelling Robot System for Inspection And Reconnaissance in Search and Rescue Applications representative for self-tethering platforms [10] [11], with articulated frame/suspension and reconfigurable running-gear (wheels, legs, treads) [7], has the potential to overcome the main drawbacks of current systems. In addition to its off-the-vehicle tether-spooling (laying/spooling down/up the tether), with data/power integral for long-duration missions, the vehicle will need to be a capable of deploying visual (visible and IR) and other chemical sensors (CO 2 emissions, NH 3 -detection, SpO 2 blood-oxygen content, etc.)…”

Section: Requirements and Specificationsmentioning

confidence: 99%

Self-Rappelling Robot System for Inspection and Reconnaissance in Search and Rescue Applications

Schempf

2009

Advanced Robotics

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A new type of self-rappelling search-and-rescue robot with chassis articulation, dubbed SPIDAR, has been developed and tested for use by first-responders. SPIDAR is built around a set of articulating body-sections, running a modular running-gear configuration (wheels, legs, tracks, etc.) to allow for maximum terrainability in chaotic collapsed urban structures. The on-board tether-system allows for continuous powering and real-time data/video feedback. The tether serves as a tensile member that allows for rappelling and winching the robot into and out of precipices and crevasses, with a range of up to 30 meters. The system is deployable and operable by a single person off a remote console. This paper describes the overall system design and prototype efforts to date, including testing on critical elements of the system and field-testing in a collapsed structure environment. Future testing is envisioned with first responders to further evaluate the prototype design and collect data for future improvements. The vehicle design was shown to be effective for terrainability and access into small/vertical spaces, but future improvements in key areas (tethering, displays, etc.) are recommended to improve system performance. The project is being funded by DARPA (Defense Advanced Projects Agency) with the intent to transfer technologies from the military domain to the civilian first-responder application markets.

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“…The first category is best represented by Mars Exploration Rovers at JPL and NOMAD [Wettergreen, 1997] and DANTE I [Wettergreen, 1993] (both Carnegie Mellon University) outside of JPL. The second category is characterized by the Cliffbot [Pirjanian et al, 2002] system at JPL and DANTE II [Bares and Wettergreen, 1999]. The third category covers MACS [Bar-Cohen and Backes, 2000] at JPL and the Gecko robots at iRobot.…”

Section: Figure 1 -Star Conceptmentioning

confidence: 99%

Adapting the ultrasonic/sonic driller/corer for walking/climbing robotic applications

et al. 2005

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Future NASA's missions include the search for past and existing life in the Universe and evidence on how the planets in the Solar system formed and evolved. In order to fulfill these goals sampling systems that meet the stringent requirements of the various environments are required to be developed. To support these objectives an ultrasonic/sonic driller/corer (USDC) device has been developed at Jet Propulsion Laboratory (JPL) to allow drilling and coring rocks for in-situ planetary analysis [1]. The site location and method of sampling are of vital importance to scientists. Surface rocks abrasion, small depth soil drilling, and deep drilling have been proposed. It has been suggested that another possible source of mineralogical or astrobiological information can be found by exploring the sidewall of canyons. The exploration of such sites requires the development of a limbed robotic system capable of walking and climbing slopes up to and including vertical faces and overhangs. An anchor/drilling mechanism is currently under development and is being installed on each leg of the four-legged Steep Terrain Access Robot (STAR). This paper presents the modeling, design, and preliminary testing results of the USDC for use as end-effectors of walking/climbing robots.

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Distributed control for a modular, reconfigurable cliff robot

Cited by 26 publications

References 7 publications

Toward Autonomous Free-Climbing Robots

Toward Autonomous Free-Climbing Robots

Self-Rappelling Robot System for Inspection and Reconnaissance in Search and Rescue Applications

Adapting the ultrasonic/sonic driller/corer for walking/climbing robotic applications

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