Dante Technical Information
- Type: Eight-legged rappelling frame walker
- Manufacturer: Field Robotics Center, Carnegie Mellon University
- List price: $1,700,000 (destination charges not included)
- Length: 120 in. (up/downhill)
- Width: 85 in. (cross-slope)
- Height: 120 in. (includes sensor mast)
- Tether: 1000 ft. (length), 0.45 in. (diameter)
- Weight: 1700 lb.
- Leg type: 4x pantograph
- Speed: 1 m/min.
- Stride: 45 in. (single-step)
- Max. turn: 11 deg. (single-step)
- Max. obstacle clearing: 50 in.
- Max. rapelling distance: 1000 ft.
- Temp. range: 0 to 100 degrees F
- Leg: position (0.1 in. resolution), axial force (0 to 3000 lb at
- Tether: tension (0 to 3000 lb.), exit angle (-90 to 90 degree,
two-axis), payout (30 cm resolution)
- Body: Two-axis inclinometers (0.1 degree, pitch & roll)
- Single gas sensors: H2S, SO2, CO2
- Temperature: thermocouple (foot mounted), ambient
- Cameras: Color stereo pair
(pan/tilt mounted), Color zoom (pan/tilt mounted), Kodak DCS-100
digital 35mm camera (pan/tilt mounted), Four leg view cameras
(bottom frame mounted)
- Scanning laser rangerfinder
Computing & Electronics
- Computing: VME single board computers (Sparc, M68030's), VxWorks
- Power: 3A at 1000VAC (peak), 2 KW (nominal)
- Two VTEL video codecs
- 1024 Kbit/sec satellite link (includes 192 Kbit/sec TCP/IP, two
384 Kbit/sec digital video)