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Publications (4)0 Total impact

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    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.
    Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on; 10/2008
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    ABSTRACT: DAGSI Whegs is the latest generation of full size Whegs robots. The robot is designed for collaborative work with the Air Force Institute of Technology (AFIT) in SLAM with active feature recognition. Whegs vehicles use abstracted biological principles to navigate over irregular and varied terrain with little or no low level control. Torsionally compliant devices in the drive train of each wheel-leg allow its gait to passively adapt when climbing large obstacles or steep inclines. Whegs is similar to the RHex line of robots that preceded Whegs in that the foot motion of all 6 legs is circular, but it differs in many aspects: 3 leg-spokes versus 1, 1 drive motor vs. 6, leg rotation for steering instead of skid steering, passive gait adaptation vs. active gait control, and Whegs has a body joint.
    Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on; 06/2008
  • 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 22-26, 2008, Acropolis Convention Center, Nice, France; 01/2008
  • Conference Paper: Introducing DAGSI Whegs
    2008 IEEE International Conference on Robotics and Automation, ICRA 2008, May 19-23, 2008, Pasadena, California, USA; 01/2008