Design and analysis for a multifunctional rescue robot with four-bar wheel-legged structure

Meng, Na; Ma, Zefeng; Chen, Hanlong; Cao, Jun; Zhu, Chenbo; Liu, Yifan; Wang, Yuefeng

doi:10.1177/1687814017747399

Cited by 11 publications

(7 citation statements)

References 31 publications

(34 reference statements)

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“…L EGGED locomotion, such as that of animals, allows excellent terrestrial mobility for traversing diverse environments. Legged robots, thus, have potential to be deployed in a wide variety of scenarios, such as search and rescue [21], [35], hazardous environment operation and exploration [9], [51], and planetary exploration [6], [55]. Various legged robots with agile animal-like locomotion have recently been developed [1], [4], [23]- [25], [30], [33], [36], [37], [40], [46].…”

Section: Introductionmentioning

confidence: 99%

Advanced Turning Maneuver of a Many-Legged Robot Using Pitchfork Bifurcation

et al. 2022

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Legged robots have excellent terrestrial mobility for traversing diverse environments and, thus, have the potential to be deployed in a wide variety of scenarios. However, they are susceptible to falling and leg malfunction during locomotion. Although the use of a large number of legs can overcome these problems, it makes the body long and leads to many legs being constrained to contact with the ground to support the long body, which impedes maneuverability. To improve the locomotion maneuverability of such robots, this study focuses on dynamic instability, which induces rapid and large movement changes, and uses a 12-legged robot with a flexible body axis. Our previous work found that the straight walk of the robot becomes unstable through a Hopf bifurcation when the body-axis flexibility is changed, which induces body undulations. Furthermore, we developed a simple controller based on the Hopf bifurcation and showed that the instability facilitates the turning of the robot. In this study, we newly found that the straight walk becomes unstable through a pitchfork bifurcation when the body-axis flexibility is changed in a way different from that in our previous work. In addition, the pitchfork bifurcation induces a transition into a curved walk, whose curvature can be controlled by the body-axis flexibility. We developed a simple controller based on the pitchfork bifurcation characteristics and demonstrated that the robot can perform a turning maneuver superior to that with the previous controller. This study provides a novel design principle

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Section: Introductionmentioning

confidence: 99%

Advanced Turning Maneuver of a Many-Legged Robot Using Pitchfork Bifurcation

et al. 2022

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“…In this section, we present an overview of the existing mobile rescue robots designed for casualty extraction. The summary of major contributions to the field of casualty extraction is depicted in Figure 1 [23][24][25][26][27][28][29][30][31].…”

Section: Related Workmentioning

confidence: 99%

“…Ning in [28] has also presented a similar design of a stretcher-type casualty ex-traction robot. A unique feature of this design is that it incorporates a wheel-legged structure that can be raised or lowered using linear actuators.…”

Section: Related Workmentioning

confidence: 99%

ResQbot 2.0: An Improved Design of a Mobile Rescue Robot with an Inflatable Neck Securing Device for Safe Casualty Extraction

et al. 2021

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Despite the fact that a large number of research studies have been conducted in the field of search and rescue robotics, significantly little attention has been given to the development of rescue robots capable of performing physical rescue interventions, including loading and transporting victims to a safe zone—i.e., casualty extraction tasks. The aim of this study is to develop a mobile rescue robot that could assist first responders when saving casualties from a dangerous area by performing a casualty extraction procedure whilst ensuring that no additional injury is caused by the operation and no additional lives are put at risk. In this paper, we present a novel design of ResQbot 2.0—a mobile rescue robot designed for performing the casualty extraction task. This robot is a stretcher-type casualty extraction robot, which is a significantly improved version of the initial proof-of-concept prototype, ResQbot (retrospectively referred to as ResQbot 1.0), that has been developed in our previous work. The proposed designs and development of the mechanical system of ResQbot 2.0, as well as the method for safely loading a full-body casualty onto the robot’s ‘stretcher bed’, are described in detail based on the conducted literature review, evaluation of our previous work, and feedback provided by medical professionals. We perform simulation experiments in the Gazebo physics engine simulator to verify the proposed design and the casualty extraction procedure. The simulation results demonstrate the capability of ResQbot 2.0 to carry out safe casualty extractions successfully.

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“…Flexible knee joints ensure transition between the two modes. The auxiliary leg rescue robot (Ning et al, 2018) can convert from the four‐wheeled to the six‐legged mode for translational and climbing compatibility. Rea and Ottaviano (2018) add extra limbs to the tracked robot to climb step 1.25 times track height.…”

Section: Introductionmentioning

confidence: 99%

Mechanical design and wheel–leg–body cooperation control of a step‐climbing robot

Liu

Zhang

et al. 2022

Journal of Field Robotics

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This paper proposes the mechanical design and wheel-leg-body cooperation control of a robot capable of climbing stairs for the RoboMaster competition. The robot is comprised of a robot body and four legs with wheels on each end. The front and hind legs composed of the linkages and sliders complete the climbing stairs motion under the coordination of the motors and the cylinders. The dynamic stair-climbing motion is realized by control the wheel speed and leg motion corresponding to the body motion of the robot relative to the stair environment. Compared with the common split stair climbing designed, the robot can dynamically climb the stairs without losing the forward speed, which makes climbing stairs more smoothly while retaining the ability to move on the flat. Experimental results demonstrate that the robot can climb stairs with a riser height up to 20 cm and a tread depth more than 80 cm. And the process of climbing each stair is reduced to 1-2 s.

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Design and analysis for a multifunctional rescue robot with four-bar wheel-legged structure

Cited by 11 publications

References 31 publications

Advanced Turning Maneuver of a Many-Legged Robot Using Pitchfork Bifurcation

Advanced Turning Maneuver of a Many-Legged Robot Using Pitchfork Bifurcation

ResQbot 2.0: An Improved Design of a Mobile Rescue Robot with an Inflatable Neck Securing Device for Safe Casualty Extraction

Mechanical design and wheel–leg–body cooperation control of a step‐climbing robot

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