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Proceedings Paper

Survival of falling robots
Author(s): Jonathan M. Cameron; Ronald C. Arkin
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Paper Abstract

As mobile robots are used in more uncertain and dangerous environments, it will become important to design them so that they can survive falls. In this paper, we examine a number of mechanisms and strategies that animals use to withstand these potentially catastrophic events and extend them to the design of robots. A brief survey of several aspects of how common cats survive falls provides an understanding of the issues involved in preventing traumatic injury during a falling event. After outlining situations in which robots might fall, a number of factors affecting their survival are described. From this background, several robot design guidelines are derived. These include recommendations for the physical structure of the robot as well as requirements for the robot control architecture. A control architecture is proposed based on reactive control techniques and action-oriented perception that is geared to support this form of survival behavior.

Paper Details

Date Published: 14 February 1992
PDF: 12 pages
Proc. SPIE 1613, Mobile Robots VI, (14 February 1992); doi: 10.1117/12.135166
Show Author Affiliations
Jonathan M. Cameron, Jet Propulsion Lab. (United States)
Ronald C. Arkin, Georgia Institute of Technology (United States)


Published in SPIE Proceedings Vol. 1613:
Mobile Robots VI
William J. Wolfe; Wendell H. Chun, Editor(s)

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