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2008 IEEE International Workshop on Safety, Security and Rescue Robotics
Holonomic behavior is desirable in the tight confines of a rubbled, collapsed-structure environment. But arbitrary motion is difficult to achieve, mechanically, particularly since treads are the most common form of locomotive device in search and rescue robots. We are developing a reconfigurable suite of locomotive modules that permit side-slipping locomotion. Initially designed as add-on modules to the TerminatorBot limbed crawler to create limb/tread hybrid robots, the modules can also bedoi:10.1109/ssrr.2008.4745878 fatcat:qgzejuppszabri6ipcoobjhc5e