The DOI matches its Crossref record; 8 of the 8 references it cites were found in a registry or an index.
Dante II: Technical Description, Results, and Lessons Learned
Abstract
Dante II is a unique walking robot that provides important insight into high-mobility robotic locomotion and remote robotic exploration. Dante II’s uniqueness stems from its combined legged and rappelling mobility system, its scanning-laser rangefinder, and its multilevel control scheme. In 1994 Dante II was deployed and successfully tested in a remote Alaskan volcano, as a demonstration of the fieldworthiness of these technologies. For more than five days the robot explored alone in the volcano crater using a combination of supervised autonomous control and teleoperated control. Human operators were located 120 km distant during the mission. This article first describes in detail the robot, support systems, control techniques, and user interfaces. We then describe results from the battery of field tests leading up to and including the volcanic mission. Finally, we put forth important lessons which comprise the legacy of this project. We show that framewalkers are appropriate for rappelling in severe terrain, though tether systems have limitations. We also discuss the importance of future “autonomous” systems to realize when they require human support rather than relying on humans for constant oversight.
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Cites
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Technical Description of the Adaptive Suspension Vehicle
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Developing Nomad for robotic exploration of the Atacama Desert
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Self-citationAngle, C., & Brooks, R. A. (2002) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.1990.262414 · Cited by 52
Operator Interfaces and Network-Based Participation for Dante II
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Human–Robot Interaction: A Survey
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RHex: A Simple and Highly Mobile Hexapod Robot
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A review of mobile robots: Concepts, methods, theoretical framework, and applications
Rubio, F., Valero, F., & Llopis-Albert, C. (2019) · International Journal of Advanced Robotic Systems · doi:10.1177/1729881419839596 · Cited by 763
Robots for Environmental Monitoring: Significant Advancements and Applications
Dunbabin, M., & Marques, L. (2012) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2011.2181683 · Cited by 728
Fast and Robust: Hexapedal Robots via Shape Deposition Manufacturing
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Metadata
- Authors
- Bares, J. E., & Wettergreen, D. S.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1999-07
- Volume
- 18
- Issue
- 7
- Pages
- 621-649
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W1964168076
- Cited by
- 269
- References
- 8
- FWCI
- 7.01
- Type
- journal article
- Language
- en
- Open access
- closed
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
