Title:
Haptic control and operator-guided gait coordination of a pneumatic hexapedal rescue robot

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dc.contributor.advisor Book, Wayne J.
dc.contributor.author Guerriero, Brian A. en_US
dc.contributor.committeeMember Lipkin, Harvey
dc.contributor.committeeMember Paredis, Christiaan J. J.
dc.contributor.department Mechanical Engineering en_US
dc.date.accessioned 2008-09-17T19:26:07Z
dc.date.available 2008-09-17T19:26:07Z
dc.date.issued 2008-07-10 en_US
dc.description.abstract The Compact Rescue Crawler is a pneumatic legged robot. Two legs of a hexapod were designed and built. The legs are controlled directly from operator inputs. The operator gives foot position inputs through two PHANToM haptic controllers. A PD controller with a supplementary force gain-scheduler control stroke lengths of each cylinder. The force-based position control technique allows the robot feet to track operator inputs to within 10% position error. A guided gait algorithm was developed to allow the operator to control all 6 legs simply by haptically guiding the front two. The operator records successful and collision-free trajectories and the gait coordinator plays the trajectories through the rear legs as they approach the detected obstacles. This hybrid gait algorithm allows the robot to proceed through a hazardous environment, guided by an operator, but without taxing the input capabilities of the human operator. en_US
dc.description.degree M.S. en_US
dc.identifier.uri http://hdl.handle.net/1853/24626
dc.publisher Georgia Institute of Technology en_US
dc.subject Haptic feedback en_US
dc.subject Fluid power en_US
dc.subject Robot en_US
dc.subject Inverse kinematic en_US
dc.subject Pneumatic en_US
dc.subject Pneumatic servo control en_US
dc.subject Legged robot en_US
dc.subject Bilateral teleoperation en_US
dc.subject Gait coordination en_US
dc.subject Mobile robot en_US
dc.subject.lcsh Hydraulic engineering
dc.subject.lcsh Human-computer interaction
dc.subject.lcsh Pneumatic control
dc.subject.lcsh Robotics
dc.subject.lcsh Touch
dc.subject.lcsh Robots Motion
dc.title Haptic control and operator-guided gait coordination of a pneumatic hexapedal rescue robot en_US
dc.type Text
dc.type.genre Thesis
dspace.entity.type Publication
local.contributor.advisor Book, Wayne J.
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
relation.isAdvisorOfPublication 45966a3c-59ea-44fc-980a-96d543c035f0
relation.isOrgUnitOfPublication c01ff908-c25f-439b-bf10-a074ed886bb7
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
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