Skip to Main Content
Frequently Asked Questions
Submit an ETD
Global Search Box
Need Help?
Keyword Search
Participating Institutions
Advanced Search
School Logo
Files
File List
case1270137669.pdf (4.48 MB)
ETD Abstract Container
Abstract Header
A Biologically Inspired Robot for Assistance in Urban Search and Rescue
Author Info
Hunt, Alexander
Permalink:
http://rave.ohiolink.edu/etdc/view?acc_num=case1270137669
Abstract Details
Year and Degree
2010, Master of Sciences (Engineering), Case Western Reserve University, EMC - Mechanical Engineering.
Abstract
This research developed a robot capable of operating in urban search and rescue conditions. USAR Whegs
TM
implements several new features in to Whegs
TM
robot design, some more successful than others. It is the first quadruped Whegs
TM
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 Whegs
TM
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.
Committee
Roger Quinn, PhD (Advisor)
Joseph Mansour, PhD (Committee Member)
Joseph Prahl, PhD (Committee Member)
Pages
90 p.
Subject Headings
Engineering
;
Mechanical Engineering
Keywords
Robotics
;
Biologically Inspired
;
Whegs
;
Urban Search and Rescue
;
USAR
Recommended Citations
Refworks
EndNote
RIS
Mendeley
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)
Abstract Footer
Document number:
case1270137669
Download Count:
1,785
Copyright Info
© 2010, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.