OWFF2

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Oil Well Fire Fighting RoboCrane 1/20th scale working model. The 1 m model included (non-powered) tracked vehicles, controlled six degree-of-freedom platform motion carrying a chimney and heat-shield, screwdriver winches and a joystick controller. The system was made of tubing that demonstrated water cooling of the structure. The concept included driving the robot over the well, deploying the chimney over the well-head, and allowing workers access to the well-head to cap it while shielded from the heat with the heat-shield. Tracked vehicles could be remote-controlled M-1 tanks coordinated with sensor feedback from robot leg angles and vehicle rotation with respect to the leg, both input to the mobility controller.