On the hybrid kinematics of tethered mobile robots

Michael A. Sebok; Herbert G. Tanner

doi:10.23919/acc.2019.8815354

On the hybrid kinematics of tethered mobile robots

Michael A. Sebok, Herbert G. Tanner

Manufacturing Robotics and Control

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

Tethered mobile robots have for a long time been utilized in search and rescue and operations in inaccessible or hazardous environments. From inspection and cleanup inside nuclear waste tanks to underwater inspection, tethers and umbilical cords have been a reliable means of uninterrupted power supply, high-bandwidth communication, and means of deployment and/or recovery in cases of system failure. While often tethered robots are teleoperated, this may not always be the case, and this paper is concerned with aspects of tether monitoring and management which are central to autonomous operations. Specifically, the paper reports on a method to approximate tether shape and configuration in cluttered workspaces for mobile robots equipped with spooling mechanisms capable of releasing or collecting a cable having its free end fixed at a point in the workspace.

Original language	English
Title of host publication	2019 American Control Conference, ACC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	25-30
Number of pages	6
ISBN (Electronic)	9781538679265
DOIs	https://doi.org/10.23919/acc.2019.8815354
State	Published - Jul 2019
Event	2019 American Control Conference, ACC 2019 - Philadelphia, United States Duration: Jul 10 2019 → Jul 12 2019

Publication series

Name	Proceedings of the American Control Conference
Volume	2019-July
ISSN (Print)	0743-1619

Conference

Conference	2019 American Control Conference, ACC 2019
Country/Territory	United States
City	Philadelphia
Period	07/10/19 → 07/12/19

Funding

This work is supported in part by NIH and NSF under grant # R01HD87133. Preliminary work along this direction had been supported under ARL MAST CTA # W911NF-08-2-0004 Sebok and Tanner are with the Department of Mechanical Engineering, University of Delaware, Newark, DE 19716 USA {sebokm,btanner}@udel.edu This work is supported in part by NIH and NSF under grant # R01HD87133. Preliminary work along this direction had been supported under ARL MAST CTA #W911NF-08-2-0004

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10.23919/acc.2019.8815354

Cite this

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title = "On the hybrid kinematics of tethered mobile robots",

abstract = "Tethered mobile robots have for a long time been utilized in search and rescue and operations in inaccessible or hazardous environments. From inspection and cleanup inside nuclear waste tanks to underwater inspection, tethers and umbilical cords have been a reliable means of uninterrupted power supply, high-bandwidth communication, and means of deployment and/or recovery in cases of system failure. While often tethered robots are teleoperated, this may not always be the case, and this paper is concerned with aspects of tether monitoring and management which are central to autonomous operations. Specifically, the paper reports on a method to approximate tether shape and configuration in cluttered workspaces for mobile robots equipped with spooling mechanisms capable of releasing or collecting a cable having its free end fixed at a point in the workspace.",

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doi = "10.23919/acc.2019.8815354",

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Sebok, MA & Tanner, HG 2019, On the hybrid kinematics of tethered mobile robots. in 2019 American Control Conference, ACC 2019., 8815354, Proceedings of the American Control Conference, vol. 2019-July, Institute of Electrical and Electronics Engineers Inc., pp. 25-30, 2019 American Control Conference, ACC 2019, Philadelphia, United States, 07/10/19. https://doi.org/10.23919/acc.2019.8815354

On the hybrid kinematics of tethered mobile robots. / Sebok, Michael A.; Tanner, Herbert G.
2019 American Control Conference, ACC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 25-30 8815354 (Proceedings of the American Control Conference; Vol. 2019-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - Tethered mobile robots have for a long time been utilized in search and rescue and operations in inaccessible or hazardous environments. From inspection and cleanup inside nuclear waste tanks to underwater inspection, tethers and umbilical cords have been a reliable means of uninterrupted power supply, high-bandwidth communication, and means of deployment and/or recovery in cases of system failure. While often tethered robots are teleoperated, this may not always be the case, and this paper is concerned with aspects of tether monitoring and management which are central to autonomous operations. Specifically, the paper reports on a method to approximate tether shape and configuration in cluttered workspaces for mobile robots equipped with spooling mechanisms capable of releasing or collecting a cable having its free end fixed at a point in the workspace.

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On the hybrid kinematics of tethered mobile robots

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