论文标题
Roboa：可搜救应用程序的可进入葡萄藤机器人的施工和评估
RoBoa: Construction and Evaluation of a Steerable Vine Robot for Search and Rescue Applications
论文作者
论文摘要
Roboa是一种类似藤蔓的搜索和救援机器人，可以探索狭窄而混乱的环境，例如被破坏的建筑物。机器人协助救援团队与被困的人找到和沟通。它采用藤机器人的原理进行移动，将其管子的尖端逐渐向前移动。在管中，气动执行器可实现横向运动。头部带有传感器，并安装在管尖的外部。在背面，一个供应盒包含卷起的管子，并提供加压的空气，电源，计算以及用户与系统交互的接口。实施了分散的控制方案，以减少所需的电缆数量，并照顾对气动执行器的低级控制。显示了系统及其关键组件的设计，表征和实验评估。完整的原型功能完全实用，并在倒塌的建筑物的现实环境中进行了评估，该建筑物的遥控机器人能够在旅行距离约10 m后反复找到一个被困的人。
RoBoa is a vine-like search and rescue robot that can explore narrow and cluttered environments such as destroyed buildings. The robot assists rescue teams in finding and communicating with trapped people. It employs the principle of vine robots for locomotion, everting the tip of its tube to move forward. Inside the tube, pneumatic actuators enable lateral movement. The head carries sensors and is mounted outside at the tip of the tube. At the back, a supply box contains the rolled up tube and provides pressurized air, power, computation, as well as an interface for the user to interact with the system. A decentralized control scheme was implemented that reduces the required number of cables and takes care of the low-level control of the pneumatic actuators. The design, characterization, and experimental evaluation of the system and its crucial components is shown. The complete prototype is fully functional and was evaluated in a realistic environment of a collapsed building where the remote-controlled robot was able to repeatedly locate a trapped person after a travel distance of about 10 m.
