Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Development of a Robotic System for Searching Human Victims in Disasters

재난 인명 탐색을 위한 로봇 시스템 개발

  • 강종규 (한국원자력연구소 원자력로봇랩) ;
  • 이근형 (한국원자력연구소 원자력로봇랩) ;
  • 이성욱 (한국원자력연구소 원자력로봇랩) ;
  • 서용칠 (한국원자력연구소 원자력로봇랩) ;
  • 최창환 (한국원자력연구소 원자력로봇랩) ;
  • 정승호 (한국원자력연구소 원자력로봇랩) ;
  • 김승호 (한국원자력연구소 원자력로봇랩) ;
  • 정경민 (한국원자력연구소 원자력로봇랩)
  • Published : 2007.02.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper introduces a mobile robotic system being developed for urban search and rescue. In order to search human victims in narrow spaces, we developed two types of serially linked mobile robots, named KAEROT-Centipede and KAEROT-SnakeTV1, that can climb over large vertical steps or travel inside narrow vertical pipes. To send such mobile robots to the disaster areas coping with large obstacles, we also developed a assistant mobile robot, named KAEROT-QuadTrack, that has 4 articulated track modules. This paper describes the mechanical structure and control architecture of the serially linked mobile robots and the supporting configuration for torque reduction of the assistant mobile robot during spinning motion that usually requires large driving torque. The experimental results show that such robotic systems have good mobility over the various terrains in disaster areas.

Keywords

References

  1. J. Casper and R. Murphy, 'Human-robot interaction during the robot-assisted urban search and rescue response at the world trade center,' IEEE Trans. On SMC, vol. 33, no. 3, pp. 367-385, 2003
  2. S. Tadokoro, 'MEXT special project for earthquake disaster mitigation in urban areas : Development of advanced robots and information systems for disaster response,' JST Workshop on Robotics Projects and Future Funding Strategy, pp. 64-74, 2004
  3. B. Klaassen and K. L. Papp, 'GMD-SNAKE2: A snakelike robot driven by wheels and a method for motion control,' Proc. of Int. Conf. on Robotics & Automation, pp. 3014-3019, 1999
  4. W. Shuichi, N. Jun, T. Masanori, K. Takefumi, and S. Koichi, 'A micro snake-like robot for small pipe inspection' IEEE International Symposium on Micromechatronics and Human Science, pp. 303-308, 2003
  5. F. Matsuno and K. Suenaga, 'Control of redudant 3D snake robot based on kinematic model,' Proc. of Int. Conf. on Robotics & Automation, pp. 2061-2066, 2003
  6. S. Ma, H. Araya, and L. Li, 'Development of a creeping snake-robot,' Proc. of Int. Conf. on Computational Intelligence in Robotics and Automation, pp. 77-82, 2001
  7. S. Ryew and H. Choi, 'Double active universal Joint(DAUJ): Robotic joint mechanism for humanlike motions,' IEEE Trans. on Robotics and Automation, vol. 17, no. 3, pp. 290-300, 2001 https://doi.org/10.1109/70.938386
  8. M. Nilsson, 'Why snake robots need torsion-free joints and how to design them,' Proc. of Int. Conf on Robotics and Automation, pp. 412-417, 1998
  9. M. Mori and S. Hirose, 'Development of active cord mechanism ACM-R3 with agile 3D mobility,' Proc. IEEF/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1552-1446, 2001
  10. G. Long, J. Anderson, and J. Borenstein, 'The kinematic design of the OmniPede: A new approach to obstacle traversion,' Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 714-719, 2002
  11. E. Shammas, A. Wolf, H. Ben Brown Jr., and H. Choset, 'New joint design for three-dimensional hyper redundant robots,' Int. Conf. on Intelligent Robots and System, pp. 3594-3599, 2003
  12. W. Lee, S. Kang, M. Kim, and K. Shin, 'Rough terrain negotiable mobile platform with passively adaptive double-tracks and its application to rescue missions and EOD missions,' ICCAS 2005, 2005
  13. K. Oka and K. Shibanuma, 'Development of a radiation- proof robot,' Advanced Robotics, vol. 16, no. 6, pp. 493-496, 2002 https://doi.org/10.1163/156855302320535809
  14. S. Lakkad, Modeling and Simulation of Steering Systems for Autonomous Vehicles, Dissertation for Master of Science, The Florida State Univ., 2004