Robot Mobility in Harsh Environments Using Hydraulically Actuated Articulated Limbs

Objectives To Develop a Novel Approach to Robot Locomotion Suitable for Urban Search and Rescue Design and Construct Critical Subsystems in a Prototype Emphasis on Kinematics and Controls

Urban Search and Rescue Buildings Collapse –For a Variety of Reasons –Trap survivors Search and Rescue are Time Sensitive Operations –Typically 72 hour limit to rescue survivors Locating Survivors Aided –By dogs –By robots Currently Robots Used Only to Gather Information Example of Collapsed Building Example of Current USAR Robot

Criteria and Constraints Strong Enough to Force Its Way Through Rubble Physically Robust Enough to Survive in Harsh Environment Stable and Robust Control System Small Size to Penetrate Rubble Without Adversely Affecting Stability of Structure Lightweight to Reduce Power Demands Simple to Set-Up and Operate

Why Hydraulics? Well Suited For Robotics Applications –Large Forces –Low Velocity High Force/Weight Ratio as compared to electric motors/gear boxes

Design Concepts Articulated Limbs Allow “Burrowing” Motion to Penetrate Rubble Hydraulic Cylinders to Actuate Joints Attachment Points Optimized For Rotation and Torque

Design Concepts Articulated Limbs With 3 Degrees of Freedom middle plates rotate independently about X-axis Armored Top and Bottom

Status Currently in Design Phase Will Be Putting Designs in CAD/FEA

Future Work Complete Design Construct Prototype Develop Control Strategy