NDLI: The latest generation Whegs™ robot features a passive-compliant body joint

Content Provider	IEEE Xplore Digital Library
Author	Boxerbaum, A.S. Oro, J. Peterson, G. Quinn, R.D.
Copyright Year	2008
Description	Author affiliation: Dept. of Mech. & Aerosp. Eng., Case Western Reserve Univ., Cleveland, OH (Boxerbaum, A.S.; Oro, J.)
Abstract	Current autonomous and semi-autonomous robotic platforms are limited to functioning in highly structured environments such as buildings and roads. Autonomous robots that could explore and navigate rugged terrain and highly unstructured environments such as collapsed buildings would have large dividends in civilian and military applications. In this work, we present the next generation of Whegstrade robots, DAGSI Whegstrade, which has been completed and extensively field tested. Several innovations have made the robot more rugged and well suited to autonomous operation. Specifically, an actively controlled, passively compliant body joint has been tested in three different modes of operation to judge the usefulness of the mechanism. A two-dimensional dynamic simulation of the robot has also been constructed, and has been used to study the effects of weight distribution on obstacle climbing and to investigate future autonomous climbing strategies. Moving the center of mass forward allowed the robot to climb taller obstacles. DAGSI Whegstrade can climb rectangular obstacles as tall as 2.19 times the length of a leg.
Starting Page	1636
Ending Page	1641
File Size	1888035
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650997
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Joints Mobile robots Leg Wheels Servomotors Gears reduced actuation Biologically-inspired robotics legged vehicles robotic simulation search and rescue robots
Content Type	Text
Resource Type	Article

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