What I’ll Be Talking About
• Background• Objective: Design
– Main Power– Tethered– Power Plant– Supplemental Power– Mobility– Physical Shape– Manipulation– Controls– Sensors– Determining Location
Objective
• Develop design of robot– Teleoperated
– For use in USAR
– Capable of performing• Victim location, aid
• Rubble clearing
• Shoring
Tethered or Free?
• With Umbilical: Easier communication, power transmission
• Without Umbilical: Greater mobility
Power Plant
• Batteries: Low power density
• HC engine: Emissions, hazardous
• Monopropellant (H2O2, etc.): Good compromise
Hydrogen Peroxide, H2O2
• Advantages– Emits H2O and O2
– Power density
• Disadvantages– 1/3 energy of HC
– Requires 90%+ concentration
– Still developing robot actuators
Chemo-Hydraulic Actuator
• Vanderbilt University• 200 lbs through a 4-
inch stroke• Hydrogen peroxide• Hydroxyl ammonium
nitrate
• Improvements?
Supplemental Power
• Required for supporting electronics– Sensors, logic, valve control, etc.– Lights, cameras, communication
• Batteries– Lithium ion– Nimh– Ni-Cad– Lead acid
Cockroach
• Biomimetic Robot• Rhex
– UC Berkeley
– McGill University
– U of Michigan
• Open-loop Control
Combined Solution
• A hybrid between the snake and cockroach
• Can slither through low clearance
• Has simple high-speed mobility in the open
• Can navigate unstructured terrain
Haptic Interface
• Each arm has 6+1DOF
• Phantom from Sensable Technologies, Inc.
• Adapt a hand control
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