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Proceedings Paper

GOAT (goes over all terrain) vehicle: a scaleable robotic vehicle
Author(s): Michael G. Dodson; Stanley L. Owsley; Stewart J. Moorehead
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Paper Abstract

Many of the potential applications of mobile robots require a small to medium sized vehicle that is capable of traversing large obstacles and rugged terrain. Search and rescue operations require a robot small enough to drive through doorways, yet capable enough to surmount rubble piles and stairs. This paper presents the GOAT (Goes Over All Terrain) vehicle, a medium scale robot which incorporates a novel configuration which puts the drive wheels on the ends of actuated arms. This allows GOAT to adjust body height and posture and combines the benefits of legged locomotion with the ease of wheeled driving. The paper presents the design of the GOAT and the results of prototype construction and initial testing.

Paper Details

Date Published: 30 September 2003
PDF: 7 pages
Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); doi: 10.1117/12.488017
Show Author Affiliations
Michael G. Dodson, Pacific Northwest National Lab. (United States)
Stanley L. Owsley, Pacific Northwest National Lab. (United States)
Stewart J. Moorehead, Pacific Northwest National Lab. (United States)


Published in SPIE Proceedings Vol. 5083:
Unmanned Ground Vehicle Technology V
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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