By Ortiz Zaragoza, Francisco José; Alonso Cáceres, Diego; Pastor Franco, Juan Ángel; Álvarez Torres, María Bárbara; Iborra García, Andrés José
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Additional info for A reference control architecture for service robots implemented on a climbing vehicle
Instead, it simply moves forward and lets its mechanical structure adapt to the terrain profile. With a frontal inclination of 40 degrees, Shrimp is able to passively overcome steps of twice its wheel diameter, to climb stairs or to move in very rough terrain. Shrimp has not been used yet in demining operation, but it can be considered an attractive candidate because of its well-adapted locomotion concept and the excellent climbing and steering capabilities that allow high ground clearance while it has very good stability on different types of rough terrain.
Several mobile scanning systems have been developed, such as the AMRU (Autonomy of Mobile Robots in Unstructured environments) series 1-4, have been modified from previously developed walking mobile robots by Belgium Royal Military. One of the main purposes of developing such robots was to achieve low-cost machines. In order to meet this constraint, simple mechanical systems for the legs were used and high cost servomotors were replaced by pneumatic and other actuation systems. A simple but robust digital control was implemented using industrial PLCs for the early versions.
The actual use of TEMEST systems and the continuous evaluation results in having TEMPEST Mk V as a reliable system with more speed and engine power capacity compare to the previous versions. As evaluated by the manufacturer, the hydraulic hoses are vulnerable to fragmentation attacks, and the machine is not intended to be used in areas where AT mines are present. As evaluated by deminers, the TEMPEST requires the operator to maintain direct line of sight with the system from a minimum of 50 meters and the operator can only be this close if behind the system’s portable shield.
A reference control architecture for service robots implemented on a climbing vehicle by Ortiz Zaragoza, Francisco José; Alonso Cáceres, Diego; Pastor Franco, Juan Ángel; Álvarez Torres, María Bárbara; Iborra García, Andrés José