Auxiliary Motive Power for TerminatorBot: An Actuator Toolbox

Author

Voyles, Richard M. ; Godzdanker, Roy ; Kim, Tae-Ho

Author_Institution

Univ. of Denver, Denver

fYear

2007

fDate

27-29 Sept. 2007

Firstpage

1

Lastpage

5

Abstract

A motive toolbox of reconfigurable modules is described to extend capabilities of the TerminatorBot. The robot can be statically reconfigured with both sensors and actuators for particular applications by way of the morphing bus. The morphing bus is a parallel bus that adapts to the modules connected. A software tool is provided to aid the user in static configuration. This paper focuses on three modules, still in the prototyping stage, for adding bulk motive force to the robot in a hybrid fashion. Methods of channeling the motive force are also discussed.

Keywords

compliance control; control engineering computing; legged locomotion; manipulators; TerminatorBot; actuator toolbox; auxiliary motive power; legged robot; morphing bus; parallel bus; reconfigurable modules; search-and-rescue robot; software tool; static reconfiguration; Actuators; Conferences; Couplings; Crawlers; Legged locomotion; Orbital robotics; Robot sensing systems; Software tools; Termination of employment; USA Councils; legged robot; reconfigurable; search and rescue;

fLanguage

English

Publisher

ieee

Conference_Titel

Safety, Security and Rescue Robotics, 2007. SSRR 2007. IEEE International Workshop on

Conference_Location

Rome

Print_ISBN

978-1-4244-1569-4

Electronic_ISBN

978-1-4244-1569-4

Type

conf

DOI

10.1109/SSRR.2007.4381258

Filename

4381258