DocumentCode
314435
Title
Tethering system design for Dante II
Author
Krishna, Murali ; Bares, John ; Mutschler, Ed
Author_Institution
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Volume
2
fYear
1997
fDate
20-25 Apr 1997
Firstpage
1100
Abstract
Dante II is a tethered mobile robot designed for volcano exploration. It has 6 pantographic legs, and is a rappelling robot that uses a tether to support itself on steep terrain, just as a mountaineer uses a climbing rope. The tether is connected to a generator and satellite communication station located at the volcano´s rim. The satellite station relays data to and from remotely located operators. This paper describes the issues faced in the design of the tethering system of Dante II, and the approach used to address these issues
Keywords
geophysical equipment; legged locomotion; volcanology; Dante II; generator; pantographic legs; rappelling robot; satellite communication station; tethered mobile robot; tethering system; volcano exploration; Inspection; Leg; Legged locomotion; Mobile robots; Orbital robotics; Power demand; Robot kinematics; Space technology; Steel; Volcanoes;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.614283
Filename
614283
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