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

Volume

3

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

2889

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249309

Filename

1249309