General description of the walking machine project
Name of the walking machine/project: Daedalus Begin and end of the Project: Jan. 1993 - present Project costs: USD 100000 Building effort [person years]: 2,5 Source of financial support: NASA Research group Lunar Rover Demonstration, Robotics Institute, Carnegie Mellon University Staff of the project: Dr. Red Whittaker (director) Mr. Kevin Dowling Mr. Gerry Roston Information via www: http://www.cs.cmu.edu/afs/cs/project/lri-3/www/design/previous-designs.html Contact address: Kevin Dowling, Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, Pennsilvania, USA Tel: ++1 412 268 8830, Fax: 412 268 5895, Email: nivek@cmu.edu Technical data of the walking machine Dimension Capacity Mobility Energy supply Length 1,8m Max. Speed 0,17m/s Number of legs 6 Energy supply DC-servos Height 2m Weight 120kg Act. degrees of freedom 8 Power supply 48 VDC Width 1,8m Load 50kg Pas. degrees of freedom 0 Power consumption 100Watt References [Krotkov et al., 1989], [Roston and Krotkov, 1992], [Roston and Dowling, 1993], [Roston, 1994], [Roston and Jacobus, 1995b], [Roston and Jacobus, 1995a] Dante II General description of the walking machine project Name of the walking machine/project: Dante II Begin and end of the Project: August 93 - July 94 Project costs: Building effort [person years]: 19 Source of financial support:1.700.000 USD for robot fabrication and mission deployment in volcano (Mount Spurr, Alaska) Research group Carnegie Mellon University, Field Robotics Center Staff of the project: Regis Hoffman, Terry Fong, Tim Hegadorn, Joe Hosteny, Ryan Miller, Lisa Housaini, Alex Scharf, Eric Rollins, Murali Krishna, Ed Mutchler, Jack Silberman, John Bares (bares@cmu.edu), David Wettergreen, Dimitrious Apostolopoulos, Chris Fedor, Henning Pangels, Jay West, Red Whittaker, Scott Boehmke http://www.frc.ri.cmu.edu/FRC/people.html Information via www: http://maas-neotek.arc.nasa.gov/dante Contact address: John Bares, Carnegie Mellon University, Field Robotics Center 5000 Forbes Avenue, Pittsburgh, PA, USA Tel: , Fax: , Email: skb@cmu.edu Technical data of the walking machine Dimension Capacity Mobility Energy supply Length 2.4m Max. speed 100cm/min Number of legs 8 Energy supply through tether Hight 3.0m Weight 770kg Act. degrees of freedom 11 Power supply 1000VAC Width 3.6m Load Pas. degrees of freedom 0 Power consumption 0.5-1.5kW full motion References Wettergreen et al., 1993a, Schofield, 1994, Henkel, 1994, Boehmke and Bares, 1995]
Research group
Lunar Rover Demonstration, Robotics Institute, Carnegie Mellon University
Staff of the project:
Dr. Red Whittaker (director) Mr. Kevin Dowling Mr. Gerry Roston
Information via www: http://www.cs.cmu.edu/afs/cs/project/lri-3/www/design/previous-designs.html
Contact address:
Kevin Dowling, Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, Pennsilvania, USA Tel: ++1 412 268 8830, Fax: 412 268 5895, Email: nivek@cmu.edu
Technical data of the walking machine
References
[Krotkov et al., 1989], [Roston and Krotkov, 1992], [Roston and Dowling, 1993], [Roston, 1994], [Roston and Jacobus, 1995b], [Roston and Jacobus, 1995a]
Name of the walking machine/project: Dante II Begin and end of the Project: August 93 - July 94 Project costs: Building effort [person years]: 19 Source of financial support:1.700.000 USD for robot fabrication and mission deployment in volcano (Mount Spurr, Alaska) Research group Carnegie Mellon University, Field Robotics Center Staff of the project: Regis Hoffman, Terry Fong, Tim Hegadorn, Joe Hosteny, Ryan Miller, Lisa Housaini, Alex Scharf, Eric Rollins, Murali Krishna, Ed Mutchler, Jack Silberman, John Bares (bares@cmu.edu), David Wettergreen, Dimitrious Apostolopoulos, Chris Fedor, Henning Pangels, Jay West, Red Whittaker, Scott Boehmke http://www.frc.ri.cmu.edu/FRC/people.html Information via www: http://maas-neotek.arc.nasa.gov/dante Contact address: John Bares, Carnegie Mellon University, Field Robotics Center 5000 Forbes Avenue, Pittsburgh, PA, USA Tel: , Fax: , Email: skb@cmu.edu Technical data of the walking machine Dimension Capacity Mobility Energy supply Length 2.4m Max. speed 100cm/min Number of legs 8 Energy supply through tether Hight 3.0m Weight 770kg Act. degrees of freedom 11 Power supply 1000VAC Width 3.6m Load Pas. degrees of freedom 0 Power consumption 0.5-1.5kW full motion References Wettergreen et al., 1993a, Schofield, 1994, Henkel, 1994, Boehmke and Bares, 1995]
Carnegie Mellon University, Field Robotics Center
Regis Hoffman, Terry Fong, Tim Hegadorn, Joe Hosteny, Ryan Miller, Lisa Housaini, Alex Scharf, Eric Rollins, Murali Krishna, Ed Mutchler, Jack Silberman, John Bares (bares@cmu.edu), David Wettergreen, Dimitrious Apostolopoulos, Chris Fedor, Henning Pangels, Jay West, Red Whittaker, Scott Boehmke http://www.frc.ri.cmu.edu/FRC/people.html
Information via www: http://maas-neotek.arc.nasa.gov/dante
John Bares, Carnegie Mellon University, Field Robotics Center 5000 Forbes Avenue, Pittsburgh, PA, USA Tel: , Fax: , Email: skb@cmu.edu
Wettergreen et al., 1993a, Schofield, 1994, Henkel, 1994, Boehmke and Bares, 1995]
