Link-type Shape Shifting Modular Robot for Search and Rescue

摘要

The objective of this work is to enhance the robot’s mobility by linking several vehicles into a train and to enhance the robot’s flexibility through shape shifting. A novel link-type modular robot, which can shape shift, has been developed for potential application in Urban Search and Rescue (USAR) operation. The superiorities of link-type structure and the shape shifting principle of the novel link-type structure have been discussed. The three-module robot has three kinds of symmetry configurations, that is, line type, triangle type and row type. Each kind configuration possesses its unique mobility. A tracked prototype has been built and tested under various unstructured environment. Experiments have demonstrated its mobility and flexibility.