Development of a shape-shifting mobile robot for urban search and rescue

IMR OpenIR

	Development of a shape-shifting mobile robot for urban search and rescue
	Ye Changlong 1; Ma Shugen 3; Li Bin 2
	2008
发表期刊	CHINESE JOURNAL OF MECHANICAL ENGINEERING
ISSN	1000-9345
卷号	21 期号:2 页码:31-35
摘要	A portable shape-shifting mobile robot system named as Amoeba II (A-II) is developed for the urban search and rescue application. It is designed with three degrees of freedom and two tracked drive systems. This robot consists of two modular mobile units and a joint unit. The mobile unit is a tracked mechanism to enforce the propulsion of robot. And the joint unit can transform the robot shape to get high environment adaptation. A-II robot can not only adapt to the environment but also change its body shape according to the locus space. It behaves two work states including the linear state (named as I state) and the parallel state (named as II state). With the linear state the robot can climb upstairs and go through narrow space such as the pipe, cave, etc. The parallel state enables the robot with high mobility on rough ground. Also, the joint unit can propel the robot to roll in sidewise direction. Two modular A-II robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot, which can transform the body into four wheels-driven vehicle. The experimental results validate the adaptation and mobility of A-II robot.
关键词	urban search and rescue modular unit shape-shifting robot environment adaptation
收录类别	CSCD
语种	英语
资助项目	[National Natural Science Foundation of China] ; [National Hi-tech Research and Development Program of China]
CSCD记录号	CSCD:3252617
引用统计	被引频次：9[CSCD] [CSCD记录]
文献类型	期刊论文
条目标识符	http://ir.imr.ac.cn/handle/321006/155867
专题	中国科学院金属研究所
作者单位	1.中国科学院金属研究所 2.中国科学院 3.立命馆大学
推荐引用方式 GB/T 7714	Ye Changlong,Ma Shugen,Li Bin. Development of a shape-shifting mobile robot for urban search and rescue[J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING,2008,21(2):31-35.
APA	Ye Changlong,Ma Shugen,&Li Bin.(2008).Development of a shape-shifting mobile robot for urban search and rescue.CHINESE JOURNAL OF MECHANICAL ENGINEERING,21(2),31-35.
MLA	Ye Changlong,et al."Development of a shape-shifting mobile robot for urban search and rescue".CHINESE JOURNAL OF MECHANICAL ENGINEERING 21.2(2008):31-35.