Development of a high mobility wheeled rescue robot with a 1-DOF arm
Development of a high mobility wheeled rescue robot with a 1-DOF arm
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DOI：
10.1504/ijamechs.2008.020834
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发表时间：
2008-10
影响因子：
--
通讯作者：
N. Sato;F. Matsuno;N. Shiroma
中科院分区：
文献类型：
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作者：
N. Sato;F. Matsuno;N. Shiroma
执行城市搜索和救援（USAR）任务的救援人员经常进入危险区域搜索幸存者。在这些区域，救援人员的生命可能受到威胁。因此，救援机器人有望成为城市搜索和救援任务的有用工作伙伴。本文介绍了FUMA的平台设计，FUMA是一种具有单自由度手臂的四轮救援机器人，用于环境信息收集。FUMA的只有一只手臂具有移动性和远程操作的两个优点。使用这个手臂，FUMA可以爬比简单的四轮机器人更高的障碍物。救援人员可以在执行任务时在安全距离内操作FUMA。要有效地实现机器人遥操作，关键是机器人系统与操作者之间的接口。在救援行动中，FUMA的操作员通常依赖于安装在手臂顶部的两个鱼眼摄像机的图像，因为它们提供了包括机器人在内的环境的广泛图像。
Human rescuers, who carry out urban search and rescue (USAR) missions, frequently enter dangerous zones to search for survivors. In these zones, rescuer's life may be threatened. For this reason, rescue robots are expected to become useful work partner for urban search and rescue missions. This paper presents platform design of FUMA, which is a four-wheeled rescue robot with a 1-DOF arm for environment information gathering. Only one arm of FUMA has two benefits for both mobility and teleoperation. Using this arm, FUMA can climb higher obstacles than simple four-wheeled robot. Human rescuers can operate FUMA at a safe distance while the missions are carried out. To teleoperate robot systems efficiently, the key is the interface between the robot systems and operators. During rescue operation, an operator of FUMA usually relies on the images from two fish-eye cameras installed at the top of the arm, as they provide wide images of the environment with the robot included in those views.