HELIOS IX tracked vehicle for urban search and rescue operations: Mechanical design and first tests
HELIOS IX tracked vehicle for urban search and rescue operations: Mechanical design and first tests
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DOI：
10.1109/iros.2008.4651000
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发表时间：
2008-10
期刊：
影响因子：
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通讯作者：
M. Guarnieri;T. Inoh;P. Debenest;K. Takita;E. F. Fukushima;S. Hirose
中科院分区：
文献类型：
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作者：
M. Guarnieri;T. Inoh;P. Debenest;K. Takita;E. F. Fukushima;S. Hirose
消防队和特殊救援机构经常被要求在极其危险的情况下进行搜救和救援。机器人工具的使用可以使这些操作对操作员来说更安全，并且在时间和资源分配方面更有效。本文介绍了最新的履带车辆HELIOS IX的发展。这个配备有机械手的移动的平台代表了日本国家创立项目的第一阶段。该项目旨在开发一种机器人系统，用于极端环境，例如在受灾严重的城市地区进行救援行动。相对于以前的原型的机械设计和系统架构进行了描述。本文还介绍了一种新型的夹持器，并对该夹持器进行了测试，同时对平台进行了少量的移动实验。
Fire brigades and special rescue agencies are often demanded to operate for search and aid of human lives in extremely dangerous scenarios. The use of robotic tools can make those operations safer for the operators and more efficient in terms of time and allocation of resources. This contribution describes the development of the newest tracked vehicle HELIOS IX. This mobile platform equipped with a manipulator represents the first stage of a Japanese national founded project. It aims to the development of a robotic system to be utilized in extreme environments such as rescue operations in heavily stricken urban areas. With respect to the previous prototypes the mechanical design and the system architecture is described. A new gripper is also introduced and tested together with few mobility experiments of the platform.