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Carnegie Mellon Robotics Institute

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Abstract

Robotic rappelling is an intriguing concept for exploration of planetary craters and their Earth analogs, volcanoes. Integrating a tensioned tether to a framewalking robot enables a new statically-stable locomotive capability appropriate for rappelling on steep and rugged terrains. Rappelling with a tether-assisted framewalker also allows efficient execution of multi-level control. These ideas are manifested in the locomotion configuration of Dante II. The appropriateness of the Dante II configuration for rappelling was evaluated during a variety of tests and its 1994 exploration of the active volcano of Mount Spurr in Alaska.

Notes

Associated Center(s) / Consortia: Field Robotics Center

Associated Project(s): Dante II

Text Reference

Dimitrios (Dimi) Apostolopoulos and John Bares, "Locomotion configuration of a robust rappelling robot," Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, Human Robot Interaction and Cooperative Robots (IROS '95), August, 1995, pp. 280 - 284.

BibTeX Reference

@inproceedings{Apostolopoulos_1995_3620,
   author = "Dimitrios (Dimi) Apostolopoulos and John Bares",
   title = "Locomotion configuration of a robust rappelling robot",
   booktitle = "Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, Human Robot Interaction and Cooperative Robots (IROS '95)",
   pages = "280 - 284",
   month = "August",
   year = "1995",
   volume = "3",
}

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