A Novel Reconfigurable Robot for Urban Search and Rescue
This paper presents a novel mobile robot for urban search and rescue based on reconfiguration. The system consists of three identical modules; actually each module is an entire robotic system that can perform distributed activities. To achieve highly adaptive locomotion capabilities, the robot'...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2006-12-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/5719 |
| _version_ | 1819204844729139200 |
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| author | Houxiang Zhang Wei Wang Zhicheng Deng Guanghua Zong Jianwei Zhang |
| author_facet | Houxiang Zhang Wei Wang Zhicheng Deng Guanghua Zong Jianwei Zhang |
| author_sort | Houxiang Zhang |
| collection | DOAJ |
| description | This paper presents a novel mobile robot for urban search and rescue based on reconfiguration. The system consists of three identical modules; actually each module is an entire robotic system that can perform distributed activities. To achieve highly adaptive locomotion capabilities, the robot's serial and parallel mechanisms form an active joint, enabling it to change its shape in three dimensions. A docking mechanism enables adjacent modules to connect or disconnect flexibly and automatically. This mechanical structure and the control system are introduced in detail, followed by a description of the locomotion capabilities. In the end, the successful on-site tests confirm the principles described above and the robot's ability. |
| first_indexed | 2024-12-23T04:42:16Z |
| format | Article |
| id | doaj.art-8ceb361c086041d6b2087ce965026502 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-23T04:42:16Z |
| publishDate | 2006-12-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-8ceb361c086041d6b2087ce9650265022022-12-21T17:59:45ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142006-12-01310.5772/571910.5772_5719A Novel Reconfigurable Robot for Urban Search and RescueHouxiang Zhang0Wei Wang1Zhicheng Deng2Guanghua Zong3Jianwei Zhang4TAMS, Department of Informatics, University of Hamburg, Hamburg, GermanyRobotics Institute, Beihang University, Beijing, ChinaRobotics Institute, Beihang University, Beijing, ChinaRobotics Institute, Beihang University, Beijing, ChinaTAMS, Department of Informatics, University of Hamburg, Hamburg, GermanyThis paper presents a novel mobile robot for urban search and rescue based on reconfiguration. The system consists of three identical modules; actually each module is an entire robotic system that can perform distributed activities. To achieve highly adaptive locomotion capabilities, the robot's serial and parallel mechanisms form an active joint, enabling it to change its shape in three dimensions. A docking mechanism enables adjacent modules to connect or disconnect flexibly and automatically. This mechanical structure and the control system are introduced in detail, followed by a description of the locomotion capabilities. In the end, the successful on-site tests confirm the principles described above and the robot's ability.https://doi.org/10.5772/5719 |
| spellingShingle | Houxiang Zhang Wei Wang Zhicheng Deng Guanghua Zong Jianwei Zhang A Novel Reconfigurable Robot for Urban Search and Rescue International Journal of Advanced Robotic Systems |
| title | A Novel Reconfigurable Robot for Urban Search and Rescue |
| title_full | A Novel Reconfigurable Robot for Urban Search and Rescue |
| title_fullStr | A Novel Reconfigurable Robot for Urban Search and Rescue |
| title_full_unstemmed | A Novel Reconfigurable Robot for Urban Search and Rescue |
| title_short | A Novel Reconfigurable Robot for Urban Search and Rescue |
| title_sort | novel reconfigurable robot for urban search and rescue |
| url | https://doi.org/10.5772/5719 |
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