Passive Tele-operation of Pneumatic Powered Robotic Rescue Crawler

  title={Passive Tele-operation of Pneumatic Powered Robotic Rescue Crawler},
  author={Venkat Durbha and L L Perry},
In this paper, a passive bilateral tele-operation of a pneumatic powered robotic crawler is presented. The crawler is designed to be four legged with three degrees of freedom along each leg. The front two legs of the crawler are remotely maneuvered by means of a Phantom haptic interface, with hind legs tracing the path generated by the front legs. The crawler dynamics are obtained in the joint space of the crawler. A simplified model of Phantom dynamics is used in the controller design for… CONTINUE READING


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