Sangam: A Confluence of Knowledge Streams

Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

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dc.contributor Mechanical Engineering
dc.creator Habibian, Soheil
dc.creator Dadvar, Mehdi
dc.creator Peykari, Behzad
dc.creator Salehzadeh, M. H.
dc.creator Hosseini, Alireza H. M.
dc.creator Najafi, Farshid
dc.date 2021-01-11T12:41:10Z
dc.date 2021-01-11T12:41:10Z
dc.date 2021-01-07
dc.date 2021-01-10T04:14:18Z
dc.date.accessioned 2023-03-01T18:54:15Z
dc.date.available 2023-03-01T18:54:15Z
dc.identifier ROBOMECH Journal. 2021 Jan 07;8(1):1
dc.identifier http://hdl.handle.net/10919/101825
dc.identifier https://doi.org/10.1186/s40648-020-00188-9
dc.identifier.uri http://localhost:8080/xmlui/handle/CUHPOERS/281810
dc.description Rescue robots are expected to carry out reconnaissance and dexterity operations in unknown environments comprising unstructured obstacles. Although a wide variety of designs and implementations have been presented within the field of rescue robotics, embedding all mobility, dexterity, and reconnaissance capabilities in a single robot remains a challenging problem. This paper explains the design and implementation of Karo, a mobile robot that exhibits a high degree of mobility at the side of maintaining required dexterity and exploration capabilities for urban search and rescue (USAR) missions. We first elicit the system requirements of a standard rescue robot from the frameworks of Rescue Robot League (RRL) of RoboCup and then, propose the conceptual design of Karo by drafting a locomotion and manipulation system. Considering that, this work presents comprehensive design processes along with detail mechanical design of the robot’s platform and its 7-DOF manipulator. Further, we present the design and implementation of the command and control system by discussing the robot’s power system, sensors, and hardware systems. In conjunction with this, we elucidate the way that Karo’s software system and human–robot interface are implemented and employed. Furthermore, we undertake extensive evaluations of Karo’s field performance to investigate whether the principal objective of this work has been satisfied. We demonstrate that Karo has effectively accomplished assigned standardized rescue operations by evaluating all aspects of its capabilities in both RRL’s test suites and training suites of a fire department. Finally, the comprehensiveness of Karo’s capabilities has been verified by drawing quantitative comparisons between Karo’s performance and other leading robots participating in RRL.
dc.description Published version
dc.format application/pdf
dc.format application/pdf
dc.language en
dc.rights Creative Commons Attribution 4.0 International
dc.rights http://creativecommons.org/licenses/by/4.0/
dc.rights The Author(s)
dc.title Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions
dc.title ROBOMECH Journal
dc.type Article - Refereed
dc.type Text
dc.type StillImage


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