机器人
执行机构
搜救
管(容器)
救援机器人
计算机科学
接口(物质)
模拟
主管(地质)
气动执行机构
计算
工程类
移动机器人
控制工程
人工智能
机械工程
地貌学
地质学
最大气泡压力法
气泡
并行计算
算法
作者
Pascal Auf der Maur,Betim Djambazi,Yves Haberthur,Patricia Hormann,Alexander Kubler,Michael Lustenberger,Samuel Sigrist,Oda Vigen,Julian Förster,Florian Achermann,Elias Hampp,Robert K. Katzschmann,Roland Siegwart
标识
DOI:10.1109/robosoft51838.2021.9479192
摘要
RoBoa is a vine-like search and rescue robot that can explore narrow and cluttered environments such as destroyed buildings. The robot assists rescue teams in finding and communicating with trapped people. It employs the principle of vine robots for locomotion, everting the tip of its tube to move forward. Inside the tube, pneumatic actuators enable lateral movement. The head carries sensors and is mounted outside at the tip of the tube. At the back, a supply box contains the rolled up tube and provides pressurized air, power, computation, as well as an interface for the user to interact with the system. A decentralized control scheme was implemented that reduces the required number of cables and takes care of the low-level control of the pneumatic actuators. The design, characterization, and experimental evaluation of the system and its crucial components is shown. The complete prototype is fully functional and was evaluated in a realistic environment of a collapsed building where the remote-controlled robot was able to repeatedly locate a trapped person after a travel distance of about 10 m.
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