Development and evaluation of a search-and-rescue robot Paripreksya 2.0 for WRS 2020

In recent years, the influence of robotics in search-and-rescue missions has become relevant. Robots can provide human rescue teams with valuable information about the disaster area, track victims and speed up the rescue operation. The disaster robot category challenge at the World Robot Summit (WRS) is a platform where emerging technologies in search-and-rescue robot developments are evaluated. This paper describes the design, development and implementation of a teleoperated all-terrain search-and-rescue robot, Paripreksya 2.0, for participation in the Standard Disaster Challenge. The robot was integrated with a 4-DoF robotic manipulator for performing dexterity tasks along with tracks and four assistive flippers for locomotion. The design of the robot was done in SolidWorks and the stability constraints of the robot while climbing stairs and slopes are also calculated. The software of the robot was built on the ROS framework. The robot was designed to perform various tasks including staircase climbing, negotiation of obstacles, opening and closing of valves, manoeuvring, plant inspection, etc. Our team has secured the best-in-class dexterity award at the WRS 2020 challenge. The performance of the robot was evaluated using the scores from different challenges held at the WRS competition.

近年来，机器人技术在搜救任务中的影响力日益凸显。机器人可为人类搜救团队提供灾区的宝贵情报、定位受灾人员并加速救援行动开展。世界机器人峰会（World Robot Summit, WRS）下设的灾害机器人类别挑战赛，是评估搜救机器人研发新兴技术的专业平台。本文介绍了一款用于参与标准灾害挑战赛的遥操作全地形搜救机器人Paripreksya 2.0的设计、研发与实现过程。该机器人集成了一台4自由度（4-DoF）机械臂以完成灵巧操作任务，同时配备履带与四组辅助鳍片用于移动行进。该机器人的设计采用SolidWorks完成，同时还计算了其攀爬楼梯与斜坡时的稳定性约束条件。该机器人的软件架构基于机器人操作系统（Robot Operating System, ROS）搭建。该机器人可完成多种任务，包括攀爬楼梯、跨越障碍物、开关阀门、机动操作以及设施巡检等。我们团队在2020年WRS挑战赛中斩获了最佳灵巧性奖项。本研究通过WRS赛事中各项挑战赛的得分对该机器人的性能进行了评估。