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Using a Small Hexapod Robot To Pick Up Large Cylinders for Munitions Response
  • Yifeng Gong,
  • Mingyu Pan,
  • Kathryn A. Daltorio
Yifeng Gong
Case Western Reserve University
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Mingyu Pan
Case Western Reserve University
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Kathryn A. Daltorio
Case Western Reserve University

Corresponding Author:[email protected]

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In shallow water environments, traditional technologies face challenges in retrieving unexploded ordnance (UXO). We present an innovative and safe alternative robotic platform to replace traditional divers in this dangerous task. A waterproof eighteen-DOF legged robot MR. Crab has been developed specifically for the purpose of locating and recovering UXO. Utilizing walking legs for both locomotion and manipulation, the robot demonstrates the capability to pick up inert UXO weighing at 2.78kg (half robot’s mass) with one pair of walking legs and 10.5kg (184% of robot’s mass) when utilizing all three pairs of legs. To enhance our understanding of the gripping capacity, static analysis was conducted to predict the maximum weight of graspable UXO with respect to UXO radii. For easier control, a user-friendly GUI had been built for remote teleoperation. Additionally, an automatic gripping algorithm was developed to efficiently place the robot in the optimal gripping position and then grab the inert UXO.
02 Apr 2024Submitted to Journal of Field Robotics
02 Apr 2024Assigned to Editor
02 Apr 2024Submission Checks Completed
02 Apr 2024Review(s) Completed, Editorial Evaluation Pending
22 Apr 2024Reviewer(s) Assigned