Design of a low-cost, highly mobile urban search and rescue robot

摘要

Abstract — In this paper, we discuss the design of a novel robotic platform for Urban Search and Rescue (USAR). The system developed possesses unique mobility capabilities based on a new adjustable compliance mechanism and overall locomotive morphology. The main facets of this work involve the morphological concepts, initial design and construction of a prototype vehicle, and a physical simulation to be used for developing controllers for semi-autonomous (supervisory) operation. I.