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Palaeontology and Robotics for Robot Replica Integration

Objective



Following the success of PALAIOMATION I project, involving the development of four legged autonomous robot systems, the present initiative is focusing on the continuation of the research towards more sophisticated systems of larger scale. The PALAIOMATION I CRAFT project (1995 1997) demonstrated the feasibility of the integration of self contained systems with a length of 2 m and a mass of 12 kg, achieving the remarkable autonomy of around 1 h. The PALAIOMATION II project aims to further develop the technology of freely moving, self contained electrically actuated systems, offering full autonomy, controllability and higher versatility. Such systems represent a new generation of Museum exhibits, into which the industrial SMEs of the project are aiming to invest . Additionally, the technological potential of the legged robot mobility platforms is expected to be exploited for a number of hazard related activities. The PALAIOMATION II project will have as target the development of four legged systems able to reach 3.5 m of length and a total estimated mass of 80 kg. Such systems will not only be more adequate and impressive as Museum exhibits, but can be expected to become useful in other applications such as hazardous area intervention, remote handling of material and equipment etc. In order to guarantee an acceptable commercial future of the projected development, a satisfactory ratio of performance/cost should be achieved. The following is a list of projected final achievements: - Components cost of the overall system (prototype level): less than 50 kecu - Length of the robot replica system: 3.5 m - Actuation: Electrical - Degrees of freedom: 12 for legs plus minimum 5 (head, tail) - Mass: 80 kg not including payload - Usefull payload: 16 kg (Batteries and possibly other equipment) - Max speed: 5 km / h - Autonomy: max 2 hours - Ground adaptability (slopes up to 6 % ) - Adaptive gait generation - Obstacle avoidance - Manoeuvring in front of obstacles - Foothold placement detection - Possibility to link with remote control station - Power management capacity and graceful shutdown in case of power shortage Gradually, a large number of potential application are expected to become open for highly sophisticated autonomous or tale operated robotic systems. These include land mine detection and disposal, handling of hazardous materials, dismantling within contaminated areas etc. It can also be expected that through the proposed development, a rapid drop of the cost of such robotic systems will also open the way towards other applications for ground adaptive, highly efficient mobile platforms, such as areas of agricultural harvesting and forestry.

Funding Scheme

CRS - Cooperative research contracts

Coordinator

Techniki Demosion Ltd.
Address
61,Academias
106 79 Athens
Greece

Participants (11)

Air Systems AE
Greece
Address

35100 Lamia
Artefact Sprl
Belgium
Address
2,Place Des Combattants
5640 Biesmeree
CENTRE DE ROBOTIQUE INTÉGRÉE D'ILE DE FRANCE
France
Address
Avenue De L'europe 10-12
78140 Velizy Villacoublay
European Association for Research in Legged Robots
Belgium
Address
Eloy
1070 Bruxelles
Hellenic Technodomiki SA
Greece
Address
10,Davaki
115 62 Athens
Institut Royal des Sciences Naturelles de Belgique
Belgium
Address
Rue Vautier
1040 Bruxelles
Jomy SA
Belgium
Address
20,Rue De Bourgogne
4452 Wihogne
Kanavos N. Ltd
Greece
Address
Metallia Domokou
35100 Domokos
TECHNICAL UNIVERSITY OF CLAUSTHAL
Germany
Address
Robert-koch-strasse 32
38678 Clausthal-zellerfeld
Technical Education Institute Lamia
Greece
Address

35100 Lamia
UNIVERSITY OF LEEDS
United Kingdom
Address
Clarendon Way
LS2 9JT Leeds