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首页> 外文期刊>Journal of Robotic Systems >Development and control of a military rescue robot for casualty extraction task
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Development and control of a military rescue robot for casualty extraction task

机译：伤亡开采任务军事救援机器人的制定与控制

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摘要

This paper presents the development and control methodology of a military rescue robot for a casualty extraction task. The new rescue robot (HURCULES) equipped with electric actuators for the casualty extraction task on the battle field is introduced. In this paper, mechanical designs of the HURCULES are described in detail. One of the noticeable features in the mechanical design is to use the worm gear in the joint to maintain the safety of the casualty even with power-off and to reduce the energy through a selected operating mode. Moreover, unlike the upper body of a conventional humanoid robot, the chest plate is installed and used to properly distribute the casualty's weight to the dual-arm manipulator and the chest plate when carrying the wounded person. The HURCULES is valuable because the rescue robots for use on the battle field are very rare. And, the HURCULES is the first rescue robot for use on the battle field in South Korea. Primarily, a semiautonomous control strategy is applied to the HURCULES. The maneuvering stability of the HURCULES is needed when approaching and escaping a casualty while maneuvering on uneven terrain, and it maintains autonomously by the HURCULES. A variety of maneuvering experiments on various terrains were conducted, and satisfactory results for the casualty extraction task were obtained. In particular, the field experiments in this paper were performed at an accredited test site. Besides, additional experiments were conducted to enhance the field applicability.
机译：本文介绍了军事救援机器人的开发和控制方法，用于伤亡提取任务。介绍了新的救援机器人（飓风），配备了用于战斗领域的伤员提取任务的电动执行器。在本文中，详细描述了隆隆的机械设计。机械设计中的一个明显的特征是使用接头中的蜗轮，即使通过掉电也能够通过所选操作模式降低能量。此外，与传统的人形机器人的上身不同，胸板安装并用用于在携带受伤人员时将伤员的重量与双臂机械手和胸板正确分配。飓风是有价值的，因为救援机器人用于战区的救援机器人非常罕见。而且，飓风是第一个用于韩国战区的救援机器人。主要是，将半自治控制策略应用于飓风。在接近和逃避在不均匀的地形上操纵时，需要在伤亡时进行机动稳定性，并且它由飓风自主维持。对各种地形进行了各种机动实验，并获得了伤亡提取任务的令人满意的结果。特别地，本文的现场实验在认可的试验部位进行。此外，进行了额外的实验以提高现场适用性。

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