A mobile hyper redundant mechanism for search and rescue tasks - Robotics Institute Carnegie Mellon University

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
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, pp. 2889 - 2895, October, 2003

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.

BibTeX

@conference{Wolf-2003-8803,
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 (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2003},
month = {October},
volume = {3},
pages = {2889 - 2895},
}