AMAD
"Archivum Medii Aevi Digitale - Specialized open access repository for research in the middle ages"To submission
| Date: | 1999 |
| Title: | Dante II: Technical Description, Results, and Lessons Learned |
| Contributor: | The Pennsylvania State University CiteSeerX Archives |
| Author: | John E. Bares David S. Wettergreen |
| Description: | Dante II is a unique walking robot that provides important insight into high-mobility robotic locomotion and remote robotic exploration. Dante's uniqueness stems from its combined legged and rappelling mobility system, its scanning-laser rangefinder, and its multilevel control scheme. In 1994 Dante was deployed and successfully tested in a remote Alaskan volcano, as a demonstration of the fieldworthiness of these technologies. For more than five days the robot explored alone in the volcano crater using a combination of supervised autonomous control and teleoperated control. Human operators were located 120 km distant during the mission, and interacted with the robot in both supervisory and direct teleoperation modes. This paper first describes in detail the robot, support systems, control techniques, and user interfaces. We then describe results from the battery of field tests leading up to and including the volcanic mission. Finally, we put forth important lessons learned as they comp. |
| URI: | https://www.amad.org/jspui/handle/123456789/60988 |
| Other Identifier: | http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.41.8358 http://wwwsyseng.anu.edu.au/~dsw/pdf/99ijrr.proof.dante2.pdf |
| AMAD ID: | 593786 |
| Appears in Collections: | BASE (Bielefeld Academic Search Engine) General history of Europe |
