Title :
A mobile hyper redundant mechanism for search and rescue tasks
Author :
Wolf, A. ; Brown, H.B. ; Casciola, R. ; Costa, A. ; Schwerin, M. ; Shamas, E. ; Choset, H.
Author_Institution :
Dept. of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
In this work we introduce a new concept of a search and rescue robotic system that is composed of an elephant trunk-like robot mounted on a mobile base. This system is capable not only of inspecting areas reachable by the mobile base but also to inspect unreachable areas such as small cracks, and pipes, using the camera mounted on its elephant trunk robot. In the report we describe the mechanical structure of the elephant trunk robot, the kinematic analysis of the structure, the robot control, and its human interface systems.
Keywords :
cameras; man-machine systems; mobile robots; robot kinematics; cracks; elephant trunk robot; human interface systems; inspect unreachable areas; kinematic analysis; mechanical structure; mobile base; mobile hyper redundant mechanism; pipes; rescue robotic system; rescue tasks; robot control; search task; Cameras; Cities and towns; Earthquakes; Human robot interaction; Manipulators; Mobile robots; Orbital robotics; Robot sensing systems; Robot vision systems; Terrorism;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249309
