DocumentCode
3469341
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
fYear
2009
fDate
14-17 April 2009
Firstpage
1
Lastpage
6
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICMECH.2009.4957126
Filename
4957126
Link To Document