Abstract Much work by many researchers and developers (Schempf, 1999) (Menzel, D’Alusio, 2001) (Schraft, Schmierer, 1998) over the last century has developed a vast body of knowledge in the areas of locomotion utilizing wheels, legs, tracks, etc. for applications from research to real-world applications. This paper addresses a novel development of a steerable monotread, dubbed AURORA Advanced Urban RObot for Reconnaissance and Assessment), proving that a single continuous belt, designed with key flexure and guide elements, is capable of steerable locomotion. This is believed to be a significant departure from the theory that tracked vehicles need to have at least two treads to steer. The system was built with a flexible elastomeric monobelt with a central drive and guide spine, which, when flexed, forces the tread into a shape allowing it to steer. The system is also capable of inverted operations, stair climbing (with the help of a deployable ramp/paddle), and is easily portable due to its small size and low weight. The system is battery-driven and controlled/monitored over a wireless link, allowing it to be deployed safely into hazardous and remote areas in urban terrain. On-board cameras provide multiple side- and bird’s-eye views, with on-board computing processing and interpreting imagery. A portable control-box is used for remote control. Preliminary tests have shown the capability of the system to handle rough terrain and steer in all of the environments tested so far. Future work will extend the autonomy capabilities of the system and ruggedize the tread and drive/steer elements even further.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    AURORA — Minimalist Design for Tracked Locomotion


    Beteiligte:

    Erschienen in:

    Robotics Research ; 10 ; 453-465


    Erscheinungsdatum :

    2003-01-01


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Tracked grid light with two axes of intelligent locomotion

    BAKER YOUSSEF F / WHITE SEAN P / MEGGINSON DANIEL M et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Design story - Bentley Azure, minimalist luxury

    Galvano, Fabio | Online Contents | 2006


    Design story - Lotus Elise, minimalist emotion

    Gandini, Marzia | Online Contents | 2001


    A Minimalist Approach to Teaching Aircraft Design

    Bowman, Jerry / Snyder, Deryl | AIAA | 2005


    A Minimalist Approach to Teaching Aircraft Design

    Bowman, W. J. / Snyder, D. O. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2005