Date of Award
6-12-2025
Document Type
Thesis
Publisher
Santa Clara : Santa Clara University, 2025
Departments
Computer Science and Engineering; Electrical and Computer Engineering
First Advisor
Maria Kyrarini
Second Advisor
Andy Wolfe
Third Advisor
Ahmed Amer
Abstract
PACRR 2.0 (Piloted Autonomous Crisis Reconnaissance Robot, version 2) builds upon the original low-cost, autonomous-capable quadruped platform by enhancing both mobility and environmental perception for first-responder applications such as search and rescue, gas leak detection, and mapping of confined or hazardous areas. In PACRR 2.0, we integrate an RGB-D camera with analytic inverse kinematics and frame-based motion planning to achieve precise foot placement and stable quasi-static gaits even on sloped or uneven terrain. An NVIDIA Jetson processor runs high-level control and mapping alongside a Raspberry Pi 4 to manage motor control. Through simulation, we demonstrate robust 3D map generation and center-of-gravity stabilization under varying inclinations.
Recommended Citation
Alimi, Awawu; Ghosh, Urmika; Kuo, Marissa; Santosa, Jonathan; and Wyrick, Ethan, "Piloted Autonomous Crisis Reconnaissance Robot 2.0 (PACRR 2.0)" (2025). Electrical and Computer Engineering Senior Theses. 110.
https://scholarcommons.scu.edu/elec_senior/110
