Locomotion configuration of a robust rappelling robot
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, pp. 280 - 284, August, 1995
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.
BibTeX
@conference{Apostolopoulos-1995-13961,author = {Dimitrios (Dimi) Apostolopoulos and John Bares},
title = {Locomotion configuration of a robust rappelling robot},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1995},
month = {August},
volume = {3},
pages = {280 - 284},
}
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