ICRA'09 Paper Abstract


Paper FrA2.2

Herbert, Sam (UMN), Bird, Nathaniel (University of Minnesota), Drenner, Andrew (UMN), Papanikolopoulos, Nikos (University of Minnesota)

A Search and Rescue Robot

Scheduled for presentation during the Video Sessions "Video Session" (FrA2), Friday, May 15, 2009, 08:36−08:42, Room: ICR

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Field Robots, Mechanism Design, Search and Rescue Robots


In order to increase the effectiveness of robotic systems, the robots must be able to traverse a variety of terrains. In urban environments this task becomes challenging as environments built for humans often have impediments such as stairs and thresholds which may be difficult or impossible for wheeled or tracked vehicles to traverse. This is further complicated in search and rescue scenarios where debris and rubble from collapsed structures may further complicate the environment. In order to address these limitations a novel robotic platform, the Loper, has been developed. The Loper utilizes a Tri-lobe wheel and a compliant chassis in order to traverse difficult terrain. In addition, multiple gait configurations of the Tri-lobe wheel enable the Loper to overcome a variety of obstacles, both indoors and out.



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