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http://dx.doi.org/10.5302/J.ICROS.2007.13.2.114

Development of a Robotic System for Searching Human Victims in Disasters  

Kang, Jong-Kyu (한국원자력연구소 원자력로봇랩)
Lee, Geun-Hyung (한국원자력연구소 원자력로봇랩)
Lee, Sung-Uk (한국원자력연구소 원자력로봇랩)
Seo, Yong-Chil (한국원자력연구소 원자력로봇랩)
Choi, Chang-Hwan (한국원자력연구소 원자력로봇랩)
Jung, Seung-Ho (한국원자력연구소 원자력로봇랩)
Kim, Seung-Ho (한국원자력연구소 원자력로봇랩)
Jeong, Kyung-Min (한국원자력연구소 원자력로봇랩)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.2, 2007 , pp. 114-120 More about this Journal
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
mobile robot; urban search and rescue; serially linked mobile robot; multiple track mechanisms;
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