Robot Mobility in Harsh Environments Using Hydraulically Actuated Articulated Limbs

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Robot Mobility in Harsh Environments Using
Hydraulically Actuated Articulated Limbs
Jeffrey Gould

• August 27, 2002

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Overview

• Introduction
• What is USAR?
• Why Hydraulics?
• Design Concepts
• Status

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Introduction

• Develop Novel Approach to Robot Locomotion
• Applicable to Harsh Environments
• Simple, Robust, Powerful

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Urban Search and Rescue

• Buildings Collapse
• Rescue is Time Sensitive
• Dogs and Robots Help in Search
• Currently No Robots For Rescue

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Why Hydraulics?
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Design Concepts
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Design Concepts

• Hydraulic Cylinder
• Attachment Points Optimized For Rotation and
  Torque

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Status

• Design Phase
• Will Be Putting Designs in CAD/FEA

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Questions?
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Extra Slides
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Chemo-Hydraulics

• Vanderbilt University
• 200 lbs through a 4-inch stroke
• Hydrogen peroxide