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首页> 外文会议>IEEE International Conference on Soft Robotics >RoBoa: Construction and Evaluation of a Steerable Vine Robot for Search and Rescue Applications
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RoBoa: Construction and Evaluation of a Steerable Vine Robot for Search and Rescue Applications

机译：RoboA：用于搜索和救援应用的可操纵藤机器人的构建和评估

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RoBoa is a vine-like search and rescue robot that can explore narrow and cluttered environments such as destroyed buildings. The robot assists rescue teams in finding and communicating with trapped people. It employs the principle of vine robots for locomotion, everting the tip of its tube to move forward. Inside the tube, pneumatic actuators enable lateral movement. The head carries sensors and is mounted outside at the tip of the tube. At the back, a supply box contains the rolled up tube and provides pressurized air, power, computation, as well as an interface for the user to interact with the system. A decentralized control scheme was implemented that reduces the required number of cables and takes care of the low-level control of the pneumatic actuators. The design, characterization, and experimental evaluation of the system and its crucial components is shown. The complete prototype is fully functional and was evaluated in a realistic environment of a collapsed building where the remote-controlled robot was able to repeatedly locate a trapped person after a travel distance of about 10m.
机译：Roboa是一种藤蔓搜索和救援机器人，可以探索狭窄和杂乱的环境，例如被摧毁的建筑物。机器人协助救援团队在与困境的人民寻找和沟通。它采用藤机器人的原则用于运动，使其管的尖端向前移动。管内，气动执行器使横向运动能够。头部带有传感器，并安装在管尖端的外部。在后面，供应盒包含卷起的管，并为用户提供加压空气，电源，计算，以及用户与系统交互的界面。实施了分散的控制方案，以减少所需数量的电缆，并负责气动执行器的低级别控制。显示了系统及其关键组分的设计，表征和实验评估。完整的原型是完全功能的，并在折叠建筑物的现实环境中评估，其中遥控机器人能够在大约10米的行驶距离之后重复定位捕获的人。

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