Fig. 1. Rescue robot (HURCULES)
Fig. 2. Configurations of a rescue robot (HURCULES)
Fig. 3. Software architecture of a rescue robot
Fig. 4. Integrated M&S framework based robot software architecture
Fig. 5. Overview of integrated mobility stabilization control block diagram
Fig. 6. GAZEBO simulation environments
Fig. 7. Test environment for mobility stabilization control (30% Longitudinal slope)
Fig. 8. Simulation results of the mobility stabilization control
Fig. 9. Test results of the mobility stabilization control
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