A mobile hyper redundant mechanism for search and rescue tasks

Alon Wolf, H. Benjamin Brown, Randy Casciola, Albert Costa, Michael Schwerin, E. Shamas, and Howie Choset
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2003, pp. 2889 - 2895.


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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.

Notes
Associated Lab(s) / Group(s): Biorobotics
Associated Project(s): Search and Rescue
Number of pages: 7

Text Reference
Alon Wolf, H. Benjamin Brown, Randy Casciola, Albert Costa, Michael Schwerin, E. Shamas, and Howie Choset, "A mobile hyper redundant mechanism for search and rescue tasks," Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2003, pp. 2889 - 2895.

BibTeX Reference
@inproceedings{Wolf_2003_5639,
   author = "Alon Wolf and H. Benjamin Brown and Randy Casciola and Albert Costa and Michael Schwerin and E. Shamas and Howie Choset",
   title = "A mobile hyper redundant mechanism for search and rescue tasks",
   booktitle = "Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems",
   pages = "2889 - 2895",
   month = "October",
   year = "2003",
   volume = "3",
}