Earthshaker: A mobile rescue robot for emergencies and disasters through teleoperation and autonomous navigation
Year: 2022
Type: article
Abstract: To deal with emergencies and disasters without rescue workers being exposed to dangerous environments, this paper presents a mobile rescue robot, Earthshaker. As a combination of a tracked chassis and a six-degree-of-freedom robotic arm, as well as miscellaneous sensors and controllers, Earthshaker is capable of traversing diverse terrains and fulfilling dexterous manipulation. Specifically, Earthshaker has a unique swing arm—dozer blade structure that can help clear up cumbersome obstacles and stabilize the robot on stairs, a multimodal teleoperation system that can adapt to different transmission conditions, a depth camera-aided robotic arm and gripper that can realize semiautonomous manipulation and a LiDAR aided base that can achieve autonomous navigation in unknown areas. It was these special systems that supported Earthshaker to win the first Advanced Technology & Engineering Challenge (A-TEC) championships, standing out of 40 robots from the world and showing the efficacy of system integration and the advanced control philosophy behind it.
Source: JUSTC
Authors: Yu Zhang, Yuxiang Li, Hefei Zhang, Yu Wang, Zhihao Wang, Yinong Ye, Yongming Yue, Ning Guo, Wei Gao, Haoyao Chen, Shiwu Zhang
Language: English
Subfield: Mechanical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W4285413601