Crab Like Legged Robot for Accessing and Classifying Munitions in Surf Zones
Abstract
Tasks in munitions response such as remote surveys, retrieval, and disabling of potentially hazardous unexploded ordnance require traversal of amphibious terrain. Surf zones, areas of the ocean with shallow water, are a particularly critical area. Accessing unexploded ordnance in these areas may be prioritized to prevent them from reaching land. Mobile robots have the potential to make these tasks safer and more efficient. The main objective of this project was to determine the degree to which crab-like legs increase the force required to dislodge the robot, effectively increasing weight. This required developing amphibious robot platforms with crab-like legs, and a lab wave tank test set-up. In addition to characterizing static gripping behavior, it was important to validate that the gripping legs could also locomote on natural terrain in both controlled lab substrates and in local beaches. We also show preliminary sensor integration. We can build on the leg designs in future work to determine the simplest effective legs and create a more developed platform to compare trafficability with wheeled robots in surf zone terrains.
Document Details
- Document Type
- Technical Report
- Publication Date
- Oct 12, 2020
- Accession Number
- AD1173681
Entities
People
- Alexander Behr
- Kathryn A Daltorio
- Nicole M Graf
- Yifeng Gong
Organizations
- Case Western Reserve University