Paper Info
Title
Raposa: Semi-Autonomous Robot For Rescue Operations
Abstract
This work describes a semi-autonomous robot for rescue operations, nicknamed RAPOSA (FOX in English). The robot was designed and built to operate in outdoor environments hostile to the human presence, such as debris resulting from the collapse of built structures, and is targeted to the tele-operated detection of potential survivors using a set of specific sensors whose information is transmitted to a remote human operator. RAPOSA's mechanical structure is composed of a main body and a front body, whose locomotion is supported on tracked wheels, allowing motion even when the robot is upside down. The front body has variable tilting capabilities, providing means to overcome edges higher than the robot main body (e.g., when climbing a stair) and is also useful to grab the lower ground when only the main body has ground contact. This front body has one thermal camera and two webcameras installed. Additional sensors include gas, temperature and humidity sensors, web cams, light diodes, microphone and loudspeaker. The robot uses wireless communications, with an option for tethered operation. The tether carries both power and communications, with an access point on its end, and can also be used to suspend the robot inside a deep hole. Docking and undocking the robot to the tether is accomplished remotely by the operator with the help of a camera located inside the robot, and represents the most innovative feature of RAPOSA.
Year
DOI
Venue
2006
10.1109/IROS.2006.281836
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12
Keywords
Field
DocType
telerobotics,wireless communications,mobile robots,image sensors,wireless communication
Robot control,Image sensor,Computer science,Simulation,Robot end effector,Control engineering,Autonomous robot,Robot,Telerobotics,Mobile robot,Microphone
Conference
Citations 
PageRank 
References 
10
0.98
1
Authors
6
Name
Order
Citations
PageRank
Carlos F. Marques1455.01
Joao Cristovao2191.71
Pedro U. Lima351669.88
Joao Frazao4192.39
M. Isabel Ribeiro514917.37
Rodrigo M. M. Ventura6236.09