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Locomotion Configuration of a Robust Rappelling Robot

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posted on 1995-01-01, 00:00 authored by Dimitrios Apostolopoulos, John Bares
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

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1995-01-01

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    RoboticsAdaptive Agents and Intelligent Robotics

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