Side-Slipping Locomotion of a Miniature, Reconfigurable Limb/Tread Hybrid Robot

Voyles, Richard M.; Godzdanker, R.

doi:10.1109/ssrr.2008.4745878

Cited by 9 publications

(2 citation statements)

References 13 publications

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“…TerminatorBot) [7] as a small scale search and rescue robot for core-bored search [8]. Since that time, various extensions have evolved to augment capabilities [9], [10], [11], but CRAWLER has remained tethered, as shown in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

RecoNode: A reconfigurable node for heterogeneous multi-robot search and rescue

Voyles

Povilus

Mangharam

et al. 2010

2010 IEEE Safety Security and Rescue Robotics

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Follow this and additional works at: http://repository.upenn.edu/mlab_papers Part of the Engineering CommonsSuggested Citation: Voyles, R.M.; Povilus, S.; Mangharam, R.; Kang Li; , "RecoNode: A reconfigurable node for heterogeneous multi-robot search and rescue," Safety Security and Rescue Robotics (SSRR), 2010 IEEE International Workshop on , vol., no., pp.1-7, 26-30 July 2010 doi: 10.1109/SSRR.2010 ©2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. AbstractSearch and rescue robots can benefit from small size as it facilitates access to voids and movement in cramped quarters. Yet, small robots cannot be the entire answer for urban search and rescue because small size limits the size of actuators, sensor payloads, computational capacity and battery capacity. Nonetheless, we are attempting to alleviate these limitations by developing the hardware and software infrastructure for heterogeneous, wireless sensor/actuator/control networks that is well-suited to miniature search and rescue robots, as well as a host of other relevant applications. These networks of application-specific sensors, actuators and intelligence will be assembled from a backbone that includes scalable computing, a flexible I/O bus, and multi-hop data networking. But two things will ultimately give our wireless infrastructure its novelty: a dual-baseband communications layer and the embedded virtual machine. The dual-baseband communications layer augments the standard data communication layer with a secondary, sub-millisecond synchronization layer to permit high-fidelity, deterministic, distributed control across the network. The determinism of this dual-baseband communications layer, in turn, enables the creation of the embedded virtual machine, which is a programming construct that abstracts away the physical sensor/actuator/control nodes. With this infrastructure, programming will not be done at the node level, as in conventional wireless sensor networks. Instead, programming will be done at the task level with port-based objects distributed across physical resources as necessary at either compile-time or run-time. At compile-time, the system can assist in the specification of the physical network, while at run-time the system can react to changes in configuration, such as nodes exhausting their batteries or losing connectivity. This paper describes progress todate on developing this scalable infrastructure, specifically the RecoNode high-performance, dynamicallyreconfigurable computational node for the Terminator-Bot crawling robot and the FireFly mid-performance node, as well as their real-time software. Abstract -Search and rescue robots can benefit from small size as it facilitates access to voids and movement in cramped quarters. Yet, small robots cannot b...

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Section: Introductionmentioning

confidence: 99%

RecoNode: A reconfigurable node for heterogeneous multi-robot search and rescue

Voyles

Povilus

Mangharam

et al. 2010

2010 IEEE Safety Security and Rescue Robotics

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“…For example, for camera view angle, comparison between a fisheye camera and omni direction one had been carried out in [2], and for grouser shape design, a square type one has been designed by using FEM technique considering standard stair step climbing in [3].…”

Section: Introductionmentioning

confidence: 99%

Development of a usar robot considering camera view angle and grouser shape of crawler

Kimura

Vie

Ukai

2009

2008 IEEE International Conference on Robotics and Biomimetics

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The development of a teleoperated robot for USAR(Urban Search And Rescue) activities has been discussed in the paper. Suitable camera view angle of the USAR robot has been examined by using simulation and it has been shown that wider angle than common usual camera is better for the robot. Isotropic Bumping and Touching Object(IBO) has been proposed for the grouser of the robot crawler in order to have better traveling performance on complex terrain. The performance has been measured through the climbing on a spiral stair. The effectiveness has been evaluated through Robocup Rescue Robot League(RRRL), and the developed robot had won 1st place in RRRL Japan Open 2007 and 2008, and 4th place in RRRL World Championship in 2008.

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