Skip to Main Content
 

Global Search Box

 
 
 
 

ETD Abstract Container

Abstract Header

A Biologically Inspired Robot for Assistance in Urban Search and Rescue

Abstract Details

2010, Master of Sciences (Engineering), Case Western Reserve University, EMC - Mechanical Engineering.
This research developed a robot capable of operating in urban search and rescue conditions. USAR WhegsTM implements several new features in to WhegsTM robot design, some more successful than others. It is the first quadruped WhegsTM robot of this scale. It uses differential steering for control, and is able to switch between tracks and a wheel-leg system quickly and efficiently. This is also the first implementation of carbon fiber wheel-legs on a WhegsTM vehicle. The quick change-system is very effective, though the differential steering does seem to provide some control problems for the wheel-legs. The carbon fiber wheel-legs significantly decrease the inertia of the robot. The robot is 18.75 inches long, can travel 6.25 feet per second, and can climb 6 inch obstacles.
Roger Quinn, PhD (Advisor)
Joseph Mansour, PhD (Committee Member)
Joseph Prahl, PhD (Committee Member)
90 p.

Recommended Citations

Citations

  • Hunt, A. (2010). A Biologically Inspired Robot for Assistance in Urban Search and Rescue [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1270137669

    APA Style (7th edition)

  • Hunt, Alexander. A Biologically Inspired Robot for Assistance in Urban Search and Rescue. 2010. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1270137669.

    MLA Style (8th edition)

  • Hunt, Alexander. "A Biologically Inspired Robot for Assistance in Urban Search and Rescue." Master's thesis, Case Western Reserve University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=case1270137669

    Chicago Manual of Style (17th edition)