By Ortiz Zaragoza, Francisco José; Alonso Cáceres, Diego; Pastor Franco, Juan Ángel; Álvarez Torres, María Bárbara; Iborra García, Andrés José

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Additional resources for A reference control architecture for service robots implemented on a climbing vehicle

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Preliminary navigation tests have been performed showing that WHEELEG cannot only walk but also run. During walking, the robot can overcome obstacles up to 20 cm high, and it can climb over irregular terrain. Possible applications that have been envisaged are humanitarian demining, exploration of unstructured environments like volcanoes etc. The robot mobility and maneuverability is Humanitarian Demining: the Problem, Difficulties, Priorities, Demining Technology and the Challenge for Robotics 41 limited, no demining sensors have been used, and no demining testing and evaluation has been reported.

Fig. 17. 5 FETCH II The Fetch program is sponsored by the Naval Explosive Ordnance Disposal Technology Division and aims to develop a team of low cost robotic mine hunters that will provide rapid and complete coverage of a mine field. It is being developed by IS robotics. The first phase aims to develop a principal swarm robot structure. The robot features advanced computational and mechanical components, yet are designed for low-cost duplication. The second phase aims to enable these robots to cooperatively clear a field of landmines under the supervision of a single operator.

The Dervish is a remotely-controlled wheeled vehicle designed to detect and detonate AP mines with charge weights up to 250 grams that is equivalent to the largest size of AP mines. It is a three-wheeled vehicle with wheel axles pointing to the center of a triangle. The weight of Dervish closely emulates (a little more than) the ground loading of a human leg (Salter& Gibson, 1999). But, because of its low weight, Dervish will not explode AT mines. The wheels are placed at 120 degrees from each other.

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A reference control architecture for service robots by Ortiz Zaragoza, Francisco José; Alonso Cáceres, Diego;
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