Extra Robotic Legs for Bearing Equipment Loads During Emergency Response - 19532
- D'Arbeloff Laboratory for Information Systems and Technology, Department of Mechanical Engineering, Massachusetts Institute of Technology (United States)
The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator that consists of two articulated robot legs that help bear a heavy backpack payload and the operator's own weight. The design was driven by a need to increase the effectiveness of Department of Energy hazardous material emergency response personnel who are encumbered by their Personal Protective Equipment. A prototype was fabricated utilizing insights gained from force analyses and human-robot interaction safety requirements. A seamless hybrid control architecture was developed to allow the operator command over the pace of the stand-to-squat transition. Initial tests of balance control while performing squatting transitions indicate the feasibility of the XRL System. The legs will ultimately walk, climb stairs, crouch down, and crawl with the operator while eliminating all equipment loads on the operator. (authors)
- Research Organization:
- WM Symposia, Inc., PO Box 27646, 85285-7646 Tempe, AZ (United States)
- OSTI ID:
- 23005394
- Report Number(s):
- INIS-US-21-WM-19532; TRN: US21V1321045728
- Resource Relation:
- Conference: WM2019: 45. Annual Waste Management Conference, Phoenix, AZ (United States), 3-7 Mar 2019; Other Information: Country of input: France; 8 refs.; available online at: https://www.xcdsystem.com/wmsym/2019/index.html
- Country of Publication:
- United States
- Language:
- English
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