Abstract
As part of a massively distributed heterogeneous system, TerminatorBot, a novel, centimeter-scale crawling robot, has been developed to address applications in surveillance, search-and-rescue, and planetary exploration. Its two three-degree-of-freedom arms, which stow inside the cylindrical body for ballistic deployment and protected transport, comprise a dual-use mechanism for manipulation and locomotion. The intended applications require a small, rugged, and lightweight robot, hence, the desire for dual use. TerminatorBot's unique mechanism provides mobility and fine manipulation on a scale currently unavailable. To facilitate manipulation, we have also developed a specialized force/torque sensor. This new sensor design has a biased distribution of flexures, which equalizes force and torque sensitivities at the operational point. This paper describes the mechanism and design of TerminatorBot, the specialized force/torque sensor, and the mechanism-specific gaits.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 17-25 |
| Number of pages | 9 |
| Journal | IEEE/ASME Transactions on Mechatronics |
| Volume | 10 |
| Issue number | 1 |
| DOIs | |
| State | Published - Feb 2005 |
Bibliographical note
Funding Information:Manuscript received February 27, 2003; revised October 8, 2003. This work was supported in part by the DARPA Distributed Robotics program under Contract MDA972-98-C-0008 and in part by the University of Minnesota under the L. T. Dosdall Fellowship.
Keywords
- Force sensor
- Mobile manipulation
- Robotics
- TerminatorBot
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