The Challenge of Preparing Teams for the European Robotics League: Emergency

Röning, Juha; Kauppinen, Marko; Pitkanen, V.; Kemppainen, Anssi; Tikanmäki, Antti; Furci, Michele; Winfield, Alan; Stengler, Erik; Franco, Marta Palau; Brueggemann, B.; Schneider, Frank E.; Castro, Amilcar de; Limon, M. Cordero; Viguria, Antidio; Ferri, Gabriele; Ferrerira, F.; Liu, X.; Pétillot, Yvan; Sosa, Dario

doi:10.2352/issn.2470-1173.2017.9.iriacv-261

Cited by 5 publications

(3 citation statements)

References 7 publications

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“…Legged robots, such as bipedal and quadrupedal robots, exoskeletons, and intelligent active prostheses, may be used in field exploration [1][2][3], disaster relief [4][5][6][7], home services [8][9][10], and medical rehabilitation [11][12][13][14], and have the potential to change human life in the future. Many researchers have already conducted a lot of research in the field of legged robots, showing astoundingly excellent results, such as Boston Dynamics' bipedal robot Atlas, which dances like a real person [15], and the quadrupedal robot ANYmal from ETH Zurich, which takes only 31 min to climb a 120 m high mountain (a total distance of 2.2 km), which is 4 min faster than a human on foot [16].…”

Section: Introductionmentioning

confidence: 99%

Optimization Design and Performance Analysis of a Bionic Knee Joint Based on the Geared Five-Bar Mechanism

Wang

Zhang

et al. 2023

Bioengineering

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Animal joint motion is a combination of rotation and translational motion, which brings high stability, high energy utilization, and other advantages. At present, the hinge joint is widely used in the legged robot. The simple motion characteristic of the hinge joint rotating around the fixed axis limits the improvement of the robot’s motion performance. In this paper, by imitating the knee joint of a kangaroo, we propose a new bionic geared five-bar knee joint mechanism to improve the energy utilization rate of the legged robot and reduce the required driving power. Firstly, based on image processing technology, the trajectory curve of the instantaneous center of rotation (ICR) of the kangaroo knee joint was quickly obtained. Then, the bionic knee joint was designed by the single-degree-of-freedom geared five-bar mechanism and the parameters for each part of the mechanism were optimized. Finally, based on the inverted pendulum model and the Newton–Euler recursive method, the dynamics model of the single leg of the robot in the landing stage was established, and the influence of the designed bionic knee joint and hinge joint on the robot’s motion performance was compared and analyzed. The proposed bionic geared five-bar knee joint mechanism can more closely track the given trajectory of the total center of mass motion, has abundant motion characteristics, and can effectively reduce the power demand and energy consumption of the robot knee actuators under the high-speed running and jumping gait.

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Section: Introductionmentioning

confidence: 99%

Optimization Design and Performance Analysis of a Bionic Knee Joint Based on the Geared Five-Bar Mechanism

Wang

Zhang

et al. 2023

Bioengineering

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“…The European Robotics League (ERL) Emergency Robots (formerly known as euRathlon ) is an outdoor robotics competition focused on multidomain (air, land, and sea) emergency response scenarios. Inspired by the disaster in Japan, it aims to create real‐world robotics challenges for outdoor robots in demanding emergency response events (Röning, Kauppinen, Pitkänen, Kemppainen, & Tikanmäki, ; Winfield et al, ).…”

Section: Introductionmentioning

confidence: 99%

Advances in real‐world applications for legged robots

Bellicoso

Bjelonic

Wellhausen

et al. 2018

Journal of Field Robotics

136

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This paper provides insight into the application of the quadrupedal robot ANYmal in outdoor missions of industrial inspection (autonomous robot for gas and oil sites[ARGOS] challenge) and search and rescue (European Robotics League (ERL) Emergency Robots). In both competitions, the legged robot had to autonomously and semiautonomously navigate in real-world scenarios to complete high-level tasks such as inspection and payload delivery. In the ARGOS competition, ANYmal used a rotating light detection and ranging sensor to localize on the industrial site and map the terrain and obstacles around the robot. In the ERL competition, additional realtime kinematic-global positioning system was used to colocalize the legged robot with respect to a micro aerial vehicle that creates maps from the aerial view. The high mobility of legged robots allows overcoming large obstacles, for example, steps and stairs, with statically and dynamically stable gaits. Moreover, the versatile machine can adapt its posture for inspection and payload delivery. The paper concludes with insight into the general learnings from the ARGOS and ERL challenges.

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“…ERL Emergency Robots (Röning, Kauppinen, Pitkänen, Kemppainen, & Tikanmäki, ; Winfield et al, ) is a civilian, outdoor robotics competition, with focus on realistic, multidomain emergency response scenarios. Inspired by the 2011 Fukushima accident, the ERL Emergency Grand Challenge can only be overcome when land, underwater, and flying robots successfully cooperate.…”

Section: Introductionmentioning

confidence: 99%

Low‐cost solution in international robotic challenge: Lessons learned by Tuscany Robotics Team at ERL Emergency Robots 2017

Limosani

Manzi

Faggiani

et al. 2018

Journal of Field Robotics

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European Robotics League (ERL) Emergency Robots is an outdoor robotics contest focusing on multidomain emergency response scenarios. In this context, the deployed robots are expected to fulfill land, underwater, and flying cooperative tasks which emulate real-world situations inspired by the 2011 Fukushima accident.Participation of the Tuscany Robotics Team at ERL Emergency Robots 2017 was deeply affected by damage to (and resulting unavailability of) the unmanned ground vehicle to be used in the competition. This damage occurred 3 days before the challenge. An entirely new working mobile platform was built from scratch using a low-cost chassis. It was able to compete with the other participants in the challenge and achieved various tasks (~83% of the tasks completed by the best performer).The paper provides a complete description of the work carried out and the system used during the competition. The development was based on low-cost solutions, in particular:• Adoption of open-hardware and open-software technology, providing cheap and fastprototyping solutions.• Use of smartphones, allowing sophisticated sensors to be exploited in an affordable way.• Employment of Cloud infrastructures, to reduce the computational burden of offloading heavy processes.Results of this experience represent a concrete demonstration, showing that even lowcost solutions can achieve complex tasks, such as those required for the European robotic competition. The presented lessons learned aim to provide guidelines useful for reacting to unexpected events. Finally, the team was honored with the Creativity

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The Challenge of Preparing Teams for the European Robotics League: Emergency

Abstract: ERL Emergency is an outdoor multi-domain robotic

Cited by 5 publications

References 7 publications

Optimization Design and Performance Analysis of a Bionic Knee Joint Based on the Geared Five-Bar Mechanism

Optimization Design and Performance Analysis of a Bionic Knee Joint Based on the Geared Five-Bar Mechanism

Advances in real‐world applications for legged robots

Low‐cost solution in international robotic challenge: Lessons learned by Tuscany Robotics Team at ERL Emergency Robots 2017

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