Richardson, RC, Nagendran, A and Scott, RG (2012) Experimental tests of 'Bidi-bot': A mechanism designed for clearing loose debris from the path of mobile search and rescue robots. Advanced Robotics, 26 (15). 1799 - 1823. ISSN 0169-1864
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 mechanism’s ability to deal with densely packed debris, collections of large debris, and the need for robust dust shielding.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Keywords: | Urban search and rescue; Robot; Manipulator; Debris; Four-bar mechanism |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 27 Apr 2015 10:01 |
Last Modified: | 03 Nov 2016 01:46 |
Published Version: | http://dx.doi.org/10.1080/01691864.2012.685235 |
Status: | Published |
Publisher: | Taylor and Francis |
Identification Number: | 10.1080/01691864.2012.685235 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:43904 |