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RI | Publications | Locomotion configuration of a robust rappelling robot
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Text only version of this site
Locomotion configuration of a robust rappelling robot
D. Apostolopoulos and J. Bares
Proceedings of the 1995 IEEE/RSJ
International Conference on Intelligent Robots and Systems, Human Robot
Interaction and Cooperative Robots (IROS '95), Vol. 3, August, 1995, pp. 280 - 284.
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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: FRC
Associated project: Dante II
| Text Reference |
D. Apostolopoulos and J. 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), Vol. 3, August, 1995, pp. 280 - 284.
| BibTeX Reference |
@inproceedings{Apostolopoulos_1995_3620,
author = "Dimitrios 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)",
month = "August",
year = "1995",
volume = "3",
pages = "280 - 284"
}