A Metamorphic Robot for Post-disaster

摘要

In order to meet the needs of complex terrain exploration in post-disaster rescue work, enhance the application scope of post-disaster rescue robots, expand the application scenarios of robots in post-disaster rescue, and reduce the risk of post-disaster rescue, a metamorphic robot for post-disaster rescue is developed in this project. This paper describes the overall structure of the robot design, motion device design, metamorphic structure design, and introduces the hardware and software aspects of the robot control system in detail. The robot uses a multi-legged metamorphic structure to deal with different complex terrains, and adds image recognition, obstacle avoidance navigation technology and radar ranging technology to deal with complex situations in post-disaster rescue. The performance of the robot was evaluated through simulations and field tests in a variety of behind-the-scenes scenarios, including traversing debris piles, crawling through narrow gaps, and climbing obstacles. The results show that the work stability is strong, and it can be applied to most of the disaster relief work scenarios.