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Proceedings Paper

Agile and dexterous robot for inspection and EOD operations
Author(s): David A. Handelman; Gordon H. Franken; Haldun Komsuoglu
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Paper Abstract

The All-Terrain Biped (ATB) robot is an unmanned ground vehicle with arms, legs and wheels designed to drive, crawl, walk and manipulate objects for inspection and explosive ordnance disposal tasks. This paper summarizes on-going development of the ATB platform. Control technology for semi-autonomous legged mobility and dual-arm dexterity is described as well as preliminary simulation and hardware test results. Performance goals include driving on flat terrain, crawling on steep terrain, walking on stairs, opening doors and grasping objects. Anticipated benefits of the adaptive mobility and dexterity of the ATB platform include increased robot agility and autonomy for EOD operations, reduced operator workload and reduced operator training and skill requirements.

Paper Details

Date Published: 7 May 2010
PDF: 11 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 769211 (7 May 2010); doi: 10.1117/12.851251
Show Author Affiliations
David A. Handelman, American Android Corp. (United States)
Gordon H. Franken, American Android Corp. (United States)
Haldun Komsuoglu, American Android Corp. (United States)

Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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