Hybrid fuel cell power for long duration robot missions in field environments

Jekanthan Thangavelautham, Danielle Gallardo, Daniel Strawser, Steven Dubowsky

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Mobile robots are often needed for long duration missions. These include search rescue, sentry, repair, surveillance and entertainment. Current power supply technology limit walking and climbing robots from many such missions. Internal combustion engines have high noise and emit toxic exhaust while rechargeable batteries have low energy densities and high rates of self-discharge. In theory, fuel cells do not have such limitations. In particular Proton Exchange Membrane (PEMs) can provide very high energy densities, are clean and quiet. However, PEM fuel cells are found to be unreliable due to performance degradation. This can be mitigated by protecting the fuel cell in a fuel-cell battery hybrid configuration using filtering electronics that ensure the fuel cell is isolated from electrical noise and a battery to isolate it from power surges. Simulation results are presented for a HOAP 2 humanoid robot that suggests a fuel cell powered hybrid power supply superior to conventional batteries.

Original languageEnglish (US)
Title of host publicationField Robotics - Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011
Pages471-478
Number of pages8
StatePublished - Dec 1 2012
Event14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011 - Paris, France
Duration: Sep 6 2011Sep 8 2011

Publication series

NameField Robotics - Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011

Other

Other14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011
CountryFrance
CityParis
Period9/6/119/8/11

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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  • Cite this

    Thangavelautham, J., Gallardo, D., Strawser, D., & Dubowsky, S. (2012). Hybrid fuel cell power for long duration robot missions in field environments. In Field Robotics - Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011 (pp. 471-478). (Field Robotics - Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011).