Robotics for Challenging Environments: Proceedings of the RCE II, the Second Conference, Albuquerque, New Mexico, June 1-6, 1996

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The use robotic, automated, and teleopearated equipment in hazardous, unstructured field operations poses challenges different from those faced in more controlled manufacturing environments. In this collection of papers, researchers working on robotic technologies and those seeking to apply these technologies in a variety of challenging environments examine the state of the art supervisory control, and control of robots and manipulators are examined. In addition to space applications, contributions feature applications in terrestrial inspection and maintenance, construction, underwater operations, the nuclear industry, and environmental remediation. Specific topics include control of legged robots; acquisition of subsurface comet samples; development of a robotic bridge painting system; a robot inspector for low-level radioactive waste; and mobile robots for security.

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Contents

Online Motion Planning for the ThreeLink Revolute Arm in an Unknown Three
1
Motion Planning of a Robotic Arm on a Wheeled Vehicle on a Rugged Terrain
8
Incorporating Terrain Uncertainties in Autonomous Vehicle Path Planning
15
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