TY - GEN
T1 - Aquapod
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
AU - Carlson, Andrew
AU - Papanikolopoulos, Nikos
PY - 2011/12/1
Y1 - 2011/12/1
N2 - As mobile robots decrease in size so does their ability to traverse rough terrain. New forms of locomotion beyond the basic wheel are being explored to overcome this fault. This paper expands on the mechanical design of a previous robot with a high mobility-to-size ratio. To accomplish high mobility the robot uses tumbling as its form of locomotion. By actively involving the body of the robot in the locomotion it can scale larger obstacles and will not get stuck in compliant terrain like similar sized wheeled robots. To accommodate real-world environments the new design has been waterproofed and moreover can be completely submerged in water to operate on a lake or stream floor. Additionally, this robot is equipped with a buoyancy control unit which will allow the robot to either sink or float in water, offering many unique applications in environmental monitoring and surveillance. This paper describes a first generation, radio controlled prototype of the design.
AB - As mobile robots decrease in size so does their ability to traverse rough terrain. New forms of locomotion beyond the basic wheel are being explored to overcome this fault. This paper expands on the mechanical design of a previous robot with a high mobility-to-size ratio. To accomplish high mobility the robot uses tumbling as its form of locomotion. By actively involving the body of the robot in the locomotion it can scale larger obstacles and will not get stuck in compliant terrain like similar sized wheeled robots. To accommodate real-world environments the new design has been waterproofed and moreover can be completely submerged in water to operate on a lake or stream floor. Additionally, this robot is equipped with a buoyancy control unit which will allow the robot to either sink or float in water, offering many unique applications in environmental monitoring and surveillance. This paper describes a first generation, radio controlled prototype of the design.
UR - http://www.scopus.com/inward/record.url?scp=84871693196&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84871693196&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5979538
DO - 10.1109/ICRA.2011.5979538
M3 - Conference contribution
AN - SCOPUS:84871693196
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4589
EP - 4594
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -