Tethering system design for Dante II

TLDR

Dante II is a tethered mobile robot built for volcano exploration. The paper addresses design challenges of Dante II’s tethering system and outlines the solutions adopted. The robot uses six pantographic legs and a tether that supports it on steep terrain, with the tether linked to a generator and a satellite communication station at the volcano rim that relays data to remote operators.

Abstract

Dante II is a tethered mobile robot designed for volcano exploration. It has 6 pantographic legs, and is a rappelling robot that uses a tether to support itself on steep terrain, just as a mountaineer uses a climbing rope. The tether is connected to a generator and satellite communication station located at the volcano's rim. The satellite station relays data to and from remotely located operators. This paper describes the issues faced in the design of the tethering system of Dante II, and the approach used to address these issues.