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Proceedings Paper

The development of a lightweight modular compliant surface bio-inspired robot
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Paper Abstract

The DARPA Sponsored Compliant Surface Robotics (CSR) program pursues development of a high mobility, lightweight, modular, morphable robot for military forces in the field and for other industrial uses. The USTLAB effort builds on proof of concept feasibility studies and demonstration of a 4, 6, or 8 wheeled modular vehicle with articulated leg-wheel assemblies. In Phase I, basic open plant stability was proven for climbing over obstacles of ~18 inches high and traversing ~75 degree inclines (up, down, or sideways) in a platform of approximately 15 kilograms. At the completion of Phase II, we have completed mechanical and electronics engineering design and achieved changes which currently enable future work in active articulation, enabling autonomous reconfiguration for a wide variety of terrains, including upside down operations (in case of flip over), and we have reduced platform weight by one third. Currently the vehicle weighs 10 kilograms and will grow marginally as additional actuation, MEMS based organic sensing, payload, and autonomous processing is added. The CSR vehicle’s modular spider-like configuration facilitates adaptation to many uses and compliance over rugged terrain. The developmental process and the vehicle characteristics will be discussed.

Paper Details

Date Published: 2 September 2004
PDF: 11 pages
Proc. SPIE 5422, Unmanned Ground Vehicle Technology VI, (2 September 2004); doi: 10.1117/12.544579
Show Author Affiliations
David L. Stone, Unmanned Systems Technology Lab., Inc. (United States)
John Cranney, Unmanned Systems Technology Lab., Inc. (United States)

Published in SPIE Proceedings Vol. 5422:
Unmanned Ground Vehicle Technology VI
Grant R. Gerhart; Chuck M. Shoemaker; Douglas W. Gage, Editor(s)

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