Hagen Schempf

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I. ABSTRACT Miniature mobile robots are desirable for military applications because of their ability to function covertly in highly constrained environments. However, work on such tiny robotic systems has been hampered by the difficulty of packaging locomotion, sensing, computing and power subsystems into diminutive spaces. This paper presents the design(More)
I. ABSTRACT This paper presents the analysis, design and experimental results of a development program for a robotic leg to be used to kick soccer balls to evaluate new shoe and ball designs for the sport of soccer. The motivation is to be seen in the ability to reproduce and vary kicks reliably to allow more accurate evaluation of new shoe and ball designs(More)
I. ABSTRACT Federal government agencies and an industrial industry consortium have funded Carnegie Mellon University (CMU) for the development of Explorer, a long range, un-tethered, modular inspection robot for the visual inspection of 6 " and 8 " natural gas distribution system pipelines. The robot can be launched into the pipeline under live conditions(More)
Visual inspection and nondestructive evaluation (NDE) of natural gas distribution mains is an important future maintenance cost-planning step for the nation's gas utilities. These data need to be gathered at an affordable cost with the fewest excavations and maximum linear feet inspected for each deployment, with minimal to no disruption in service. Current(More)
US gas companies spend over $300 million annually detecting and repairing gas leaks in urban and suburban settings. The current approach is one of above-ground leak detection and pinpointing, followed by excavation, repair and restoration. The major cost incurred is typically that of digging and restoring the excavation site. The Gas Research Institute and(More)
I. ABSTRACT US gas companies spend over $300 million annually detecting and repairing gas leaks in urban and suburban settings. The current approach is one of above ground leak detection and pinpointing, followed by excavation, repair and restoration. The major cost incurred is typically that of digging and restoring the excavation site. The Gas Research(More)
I. ABSTRACT Urban settings represent a challenging environment for teleoperated and autonomous robot systems. We present a new design for a highly terrainable robot system, detailing the major mechanical, electrical and control systems. The Pandora robot system is a tracked robot system with self-contained computing, power and wireless communications(More)
A new type of self-rappelling search-and-rescue robot with chassis articulation, dubbed SPIDAR, has been developed and tested for use by first-responders. SPIDAR is built around a set of articulating body-sections, running a modular running-gear configuration (wheels, legs, tracks, etc.) to allow for maximum terrainability in chaotic collapsed urban(More)