Abstract
Human rescuers have very short time to find trapped victims in a collapsed structure, otherwise the chance of finding victims still alive is nearly zero. In such a critical situation robots can support rescuers. According to this very demanding tasks the development of the robots is very complex and combines multiple disciplines such as mechanical engineering, electrical engineering and programming. This mobile platform equipped with a manipulator represents the first stage of an Austrian national founded project. A common background of our above activities is the development of a tracked vehicle with four active flippers to improve the traversability on uneven terrains, the control of the driving mechanism and the system architecture with the experiments in the programming of an embedded real-time processor and a high-performance FPGA from National Instruments to control all sensors and actuators.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Birk, A., Pathak, K., Schwertfeger, S., Chonnaparamutt, W.: The IUB Rugbot: an intelligent, rugged mobile robot for search and rescue operations. In: International Workshop on Safety, Security and Rescue Robotics (SSRR). IEEE press, Los Alamitos (2006)
Jacoff, A., Messina, E., Weiss, B.A., Tadokoro, S., Nakagawa, Y.: Test arenas and performance metrics for urban search and rescue robots. In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3396–3403 (2003)
Nagatani, K., Yamasaki, A., Yoshida, K., Yoshida, T., Koyanagi, E.: Semi-autonomous Traversal on Uneven Terrain for a Tracked Vehicle using Autonomous Control of Active Flippers. In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2667–2672 (2008)
Guarnieri, M., Takao, I., Debenest, P., Takita, K., Fukushima, E., Hirose, S.: HELIOS IX Tracked Vehicle for Urban Search and Rescue Operations: Mechanical Design and First Tests. In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1612–1617 (2008)
Pellenz, J., Koblenz, U.: RoboCup Rescue League Teampaper. RoboCupRescue Team resko@UniKoblenz, Germany (2008)
Dornhege, C., Kümmerle, R., Ruhnke, M., Steder, B., Nebel, B., Doherty, P., Wzorek, M., Rudol, P., Conte, G., Durante, S., Lundstrom, D., Kleiner, A.: RoboCup Rescue League Teampaper. In: RoboCupRescue - Robot League Team RescueRobots University Freiburg, Germany (2006)
I-Robot Ltd., ”Packbot”, (October 2008), http://www.irobot.com/
Telerob Ltd., ”Telemax” (October 2008), http://www.telerob.de/-OnlineResource
Robowatch Ltd., ”Asendro” (October 2008), http://www.asendro.de/index.php?id=110&L=0-OnlineResource
ARC Leichtmetallkompetenzzentrum Ranshofen Ltd., ”LKR” (February 2008), http://www.lkr.at/-OnlineResource
Angeles, Jorge.: Fundamentals of Robotic Mechanical Systems: Theory, New York, Inc., pp. 265–271 (1995)
CoreSlam, Simultaneous Localization And Mapping (June 2009), http://www.openslam.org/
RoboRescue Team, Research & Development Department, University of Applied Sciences Upper Austria (June 2009), http://rrt.fh-wels.at
Poelzleithner, A.: Diploma Thesis: Robotic Arm for an Autonomous Rescue Robot, University of Applied Sciences Upper Austria (June 2009)
Denavit, J., Hartenberg, R.S.: A kinematic notation for lower pair mechanisms based on matrices. ASME (1955)
National Instruments Ltd., NI-Single Board RIO (March 2010), http://www.ni.com/singleboard/d/
Hokuyo Ltd., ”UBG-04LX-F01” (March 2010), http://www.hokuyo-aut.jp/02sensor/07scanner/ubg_04lx_f01.html
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Edlinger, R., Pölzleithner, A., Zauner, M. (2011). Mechanical Design and System Architecture of a Tracked Vehicle Robot for Urban Search and Rescue Operations. In: Obdržálek, D., Gottscheber, A. (eds) Research and Education in Robotics - EUROBOT 2010. EUROBOT 2010. Communications in Computer and Information Science, vol 156. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-27272-1_4
Download citation
DOI: https://doi.org/10.1007/978-3-642-27272-1_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-27271-4
Online ISBN: 978-3-642-27272-1
eBook Packages: Computer ScienceComputer Science (R0)