Title :
Core-bored search-and-rescue applications for an agile limbed robot
Author :
Voyles, Richard M. ; Larson, Amy C. ; Bae, Jaewook ; Lapoint, Monica
Author_Institution :
Dept. of Comput. Sci. & Eng., Minnesota Univ., Minneapolis, MN, USA
fDate :
28 Sept.-2 Oct. 2004
Abstract :
A custom version of the TerminatorBot is described for core bored inspection during search-and-rescue operations. "Core bored inspection" refers to visual inspection of a void by passing a small camera through an access hole into the void. This is the classic "camera-on-a-stick" approach. Sometimes the access hole occurs naturally. Sometimes a suspected void has no access hole. To gain access, a hole is bored through the rubble with a coring tool, hence the term "core-bored inspection". In either case, the camera, once inside, can articulate to look around, but is limited to fine-of-sight. Occlusions can prevent a thorough inspection or force using/boring another hole. A small, agile robotic device could augment the use of such cameras. We propose the TerminatorBot as a prototype limbed robot for studying such applications.
Keywords :
cameras; emergency services; inspection; mobile robots; robot vision; service robots; TerminatorBot; agile limbed robot; core bored inspection; search-and-rescue operation; visual inspection; Application software; Boring; Computer science; Concrete; Inspection; Navigation; Probes; Process planning; Robot sensing systems; Slabs;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389329