Title :
Design, construction, and testing of a new class of mobile robots for cave exploration
Author :
Siles, Ivan ; Walker, Ian D.
Author_Institution :
Dept. of Mech. Eng., Clemson Univ., Clemson, SC
Abstract :
This paper introduces a novel mobile robot design concept aimed at exploration of subterranean spaces. The key innovation is the combination of highly maneuverable-body elements with wheel/leg elements (ldquowhegsrdquo). This combination offers performance not possible with conventional ldquomonolithicrdquo wheeled or tracked mobile robots, or with current robot snakes. The paper covers two design iterations of the concept, concentrating on describing the overall design process and results from initial tests.
Keywords :
control system synthesis; mobile robots; cave exploration; design iterations; mobile robot design; monolithic wheeled robots; robot snakes; subterranean spaces; wheel-leg elements; Humans; Leg; Mobile robots; Navigation; Remotely operated vehicles; Rough surfaces; Surface roughness; Testing; USA Councils; Wheels; Cave robot; biologically inspired robots; exploration; subterranean; whegs;
Conference_Titel :
Mechatronics, 2009. ICM 2009. IEEE International Conference on
Conference_Location :
Malaga
Print_ISBN :
978-1-4244-4194-5
Electronic_ISBN :
978-1-4244-4195-2
DOI :
10.1109/ICMECH.2009.4957126
