An interactive simulation for a fluid-powered legged search and rescue robot

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Title: An interactive simulation for a fluid-powered legged search and rescue robot
Author: Book, Wayne John ; Daepp, Hannes G. ; Kim, Ta Y. ; Radecki, Peter P.
Abstract: A pneumatically actuated search and rescue quadrapedal robot is presented as a system with potentially enhanced versatility relative to existing rescue robots. The usage of fluid powered actuation, combined with tele-operation of the robot via an operator workstation, enables the 12 degree of freedom robot to better manipulate large objects and provide on-site victim assistance than existing rescue robots, which are often limited solely to assisting in search functions. To better examine the system’s capabilities, a simple model of a pneumatic actuator is created and then integrated into a simulation that allows the user to manipulate a model of the robot in a virtual environment. Constraints on simulation design and control for optimal performance are discussed and implementation and potential further impact are presented.
Description: © 2010 by ISFA
Type: Proceedings
Citation: Wayne J. Book, Hannes G. Daepp, Ta Y. Kim, and Peter P. Radecki, "An interactive simulation for a fluid-powered legged search and rescue robot," Proceedings of 2010 ISFA 2010 International Symposium on Flexible Automation, Tokyo, Japan July 12-14, 2010
Date: 2010-07
Contributor: Georgia Institute of Technology. School of Mechanical Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Michigan Technological University
Publisher: Georgia Institute of Technology
Subject: Rescue robots
Virtual environments
Pneumatic actuators
Quadrapedal robots

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