User Interface with Multisensory Feedback for Fluid Powered Rescue Robot

Presented at the 6th FPNI – PhD Symposium, June 15-19 2010, West Lafayette, Indiana.A semi-autonomously controlled fluid-powered legged search and rescue robot is proposed as a solution to the ever-increasing demand for more versatile rescue robot technology. The success of such a robot is dependent on the existence of a user interface that optimizes the balance between user and machine decisions and provides the operator with the appropriate amount of information to soundly make such decisions. The system design, consisting of a simulation/physical robot, on-board computer, and operator interface are described. Aspects of the relation between operator input and robot motion are discussed, such as the influence of feedback on operator actions or the integration of input into semi-autonomous gaits. The basis for tests seeking to optimize the interface design is established

Development of a Quadruped Robot and Parameterized Stair-Climbing Behavior

Stair-climbing is a difficult task for mobile robots to accomplish, particularly for legged robots. While quadruped robots have previously demonstrated the ability to climb stairs, none have so far been capable of climbing stairs of variable height while carrying all required sensors, controllers, and power sources on-board. The goal of this thesis was the development of a self-contained quadruped robot capable of detecting, classifying, and climbing stairs of any height within a specified range. The design process for this robot is described, including the development of the joint, leg, and body configuration, the design and selection of components, and both dynamic and finite element analyses performed to verify the design. A parameterized stair-climbing gait is then developed, which is adaptable to any stair height of known width and height. This behavior is then implemented on the previously discussed quadruped robot, which then demonstrates the capability to climb three different stair variations with no configuration change