1. Robot Mobility in Harsh Environments Using Hydraulically Actuated Articulated Limbs August 27, 2002 Jeffrey Gould

2. Overview Introduction What is USAR? Why Hydraulics? Design Concepts Status

3. Introduction Develop Novel Approach to Robot Locomotion Applicable to Harsh Environments Simple, Robust, Powerful

4. Urban Search and Rescue Buildings Collapse Rescue is Time Sensitive Dogs and Robots Help in Search Currently No Robots For Rescue

5. Why Hydraulics?

6. Design Concepts

7. Hydraulic Cylinder Attachment Points Optimized For Rotation and Torque

8. Status Design Phase Will Be Putting Designs in CAD/FEA

9. Questions?

10. Extra Slides

11. Chemo-Hydraulics Vanderbilt University 200 lbs through a 4- inch stroke Hydrogen peroxide