An interactive simulation for a fluid-powered legged search and rescue robot

Abstract

© 2010 by ISFAA pneumatically actuated search and rescue quadrapedal robot is presented as a system with potentially enhanced versatility relative to existing rescue robots. The usage of fluid powered actuation, combined with tele-operation of the robot via an operator workstation, enables the 12 degree of freedom robot to better manipulate large objects and provide on-site victim assistance than existing rescue robots, which are often limited solely to assisting in search functions. To better examine the system’s capabilities, a simple model of a pneumatic actuator is created and then integrated into a simulation that allows the user to manipulate a model of the robot in a virtual environment. Constraints on simulation design and control for optimal performance are discussed and implementation and potential further impact are presented