Title

Experimental Tests Of Bidi-Bot: A Mechanism Designed For Clearing Loose Debris From The Path Of Mobile Search And Rescue Robots

Keywords

debris; four-bar mechanism; manipulator; robot; urban search and rescue

Abstract

Urban search and rescue robots have the potential of identifying the location of trapped people following a disaster. The majority of survivors in open spaces will be rapidly located and extracted by rescue personnel. Therefore, the greatest challenge for rescue robotics is to penetrate deep within collapsed buildings to search for survivors. In this paper, several robotic challenges are presented to represent some of the challenges faced within a collapsed building. A robotic mechanism, termed the sweep-extend mechanism is proposed as a means for mobile search and rescue robots to clear a path through loose debris. The mechanism has been mounted on a mobile platform and tested against the proposed scenarios. The mechanism was demonstrated to move debris, such as bricks, away from the path of the robot. The work also highlights limitations in the mechanisms ability to deal with densely packed debris, collections of large debris, and the need for robust dust shielding. © 2012 Taylor & Francis and The Robotics Society of Japan.

Publication Date

10-1-2012

Publication Title

Advanced Robotics

Volume

26

Issue

15

Number of Pages

1799-1823

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1080/01691864.2012.685235

Socpus ID

84866121048 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84866121048

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