Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

ROBOMECH Journal

Soheil Habibian¹  Alireza Hosseini¹  Alireza H. M. Hosseini¹  Mehdi Dadvar¹  Behzad Peykari¹  M. Hossein Salehzadeh¹  Farshid Najafi² 

[1] The Authors Were With Advanced Mobile Robotics Lab, Qazvin Azad University;University of Tehran, College of Engineering, School of Mechanical Engineering;

关键词: Field and service robotics;    Telerobotics;    Mobile robotics;    Search and rescue robots;    Mechanism design of mobile robots;    RoboCup rescue;   

DOI  :  10.1186/s40648-020-00188-9

来源: DOAJ

【 摘 要 】

Abstract Rescue robots are expected to carry out reconnaissance and dexterity operations in unknown environments comprising unstructured obstacles. Although a wide variety of designs and implementations have been presented within the field of rescue robotics, embedding all mobility, dexterity, and reconnaissance capabilities in a single robot remains a challenging problem. This paper explains the design and implementation of Karo, a mobile robot that exhibits a high degree of mobility at the side of maintaining required dexterity and exploration capabilities for urban search and rescue (USAR) missions. We first elicit the system requirements of a standard rescue robot from the frameworks of Rescue Robot League (RRL) of RoboCup and then, propose the conceptual design of Karo by drafting a locomotion and manipulation system. Considering that, this work presents comprehensive design processes along with detail mechanical design of the robot’s platform and its 7-DOF manipulator. Further, we present the design and implementation of the command and control system by discussing the robot’s power system, sensors, and hardware systems. In conjunction with this, we elucidate the way that Karo’s software system and human–robot interface are implemented and employed. Furthermore, we undertake extensive evaluations of Karo’s field performance to investigate whether the principal objective of this work has been satisfied. We demonstrate that Karo has effectively accomplished assigned standardized rescue operations by evaluating all aspects of its capabilities in both RRL’s test suites and training suites of a fire department. Finally, the comprehensiveness of Karo’s capabilities has been verified by drawing quantitative comparisons between Karo’s performance and other leading robots participating in RRL.

【 授权许可】

Unknown