撼地者:基于遥操作与自主导航的移动救援机器人

Earthshaker:A mobile rescue robot for emergencies and disasters through teleoperation and autonomous navigation

为了应对突发场景及灾难环境下的救援作业任务,避免救援人员暴露在危险环境中,本论文提出一款移动救援机器人,“撼地者”。凭借履带式底盘、六自由度灵巧机械臂及各种传感器及控制器的组合,撼地者得以拥有跨越多样地形和完成精细作业的能力。具体来说,首先,撼地者独特的摆臂-推铲机构设计,在提高了清障能力的同时,增加了上下楼梯的稳定性;其次,通过多模态遥操作系统使撼地者得以适应各种复杂的通讯环境;同时,基于深度相机辅助的灵巧机械臂与抓手实现了半自主操纵;最终,利用激光雷达实现了在未知环境中的自主导航。正是凭借这些特别的系统,撼地者在以应急救援为主题的“智创杯”前沿技术挑战赛锦标赛中,从全球40个机器人中脱颖而出并成功夺冠,展示了其系统集成的有效性及控制理念的先进性。

To deal with emergencies and disasters without rescue workers being exposed to dangerous environments,this paper presents a mobile rescue robot,Earthshaker.As a combination of a tracked chassis and a six-degree-of-freedom robotic arm,as well as miscellaneous sensors and controllers,Earthshaker is capable of traversing diverse terrains and fulfilling dexterous manipulation.Specifically,Earthshaker has a unique swing arm—dozer blade structure that can help clear up cumbersome obstacles and stabilize the robot on stairs,a multimodal teleoperation system that can adapt to different transmission conditions,a depth camera-aided robotic arm and gripper that can realize semiautonomous manipulation and a LiDAR aided base that can achieve autonomous navigation in unknown areas.It was these special systems that supported Earthshaker to win the first Advanced Technology&Engineering Challenge(A-TEC)championships,standing out of 40 robots from the world and showing the efficacy of system integration and the advanced control philosophy behind it.