The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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",
}

The Robotics Institute

Menu