PRE2018 3 Group8

Group 8 Spidy Sense

Your friendly neighborhood robot

---

Noor Schroen
Lotte Hollander
Romy Lauwers
Mark Wijnands
Gialesi Notkamp

---

Problem statement and objectives

Hulpverleners kunnen de kritieke situatie niet goed genoeg inschatten, omdat ze daar niet de juiste middelen voor hebben. Slachtoffers kunnen sneller geholpen worden als hulpverleners makkelijker in kleine ruimtes kunnen zoeken. (Translate)

Objectives:

• The solution should localize the victims of a disaster area
• The solution should be ready for use
• The solution should be tiny/small
• The solution should be adaptable
• The solution should be strong (enough for mechanical loads)
• The solution should be autonomous
• The solution should be user-friendly
• The solution should be able to function in an unknown and dynamic environment
• The solution should be durable

SotA

Spider Robot and Motion:
[1] This paper looks at certain safe points where the spider robot can place its feet and where not in a plane.
[2] This paper looks at certain points where the spider can and cannot place its feet.
[3] This paper looks at a spider robot that climbs autonomously in pipelines. Could be useful for the small spaces.
[4] This paper is about the capabilities of the spider and studies the foot force and torque distribution of the spider in different conditions and compares the leg configurations in order to minimize the torque effort.
[5] This paper discusses foot designs and fabrication for use with a spider-inspired climbing robot.
[6] This paper is about a four-legged spider robot that learns how to move in its environment and reacts to physical changes.
[7] This article discusses a dragline-forming robot inspired by spiders
[8] This is the site of Robugtix. This company has a small spider robot, which can make smooth, life-like motions. The toy comes equipped with a 3D printed body, 26 motors, and microcontroller board pre-loaded with the Bigfoot™ Inverse Kinematics Engine.
[9] This paper focusses on a spider-imitated robot used for rescue

Relevant Rescue Robots
[10] This paper is about a rescue robot with debris opening function
[11] This paper is about MOIRA the Mobile Inspection robot for Rescue Activities.
[12] This paper is about a robot that can move the debris.
[13] This patent is about an all-terrain rescue and disaster-relief robot.
[14] This paper discusses an aerial search and rescue robot and its application to a specific earthquake.
[15] This paper is about modular, reconfigurable rescue robots.
[16] This article describes a so called WALK-MAN robot in post-earthquake scenario's.
[17] This patent is for an autonomous detection system and method of rescue robot in disaster area for complex environment
[18] This patent is for a full topography intelligence rescue robot with self-balancing objective table
[19] This patent is about an emergency relief goods transporting robot

Disaster Rescue
[20] This patent focusses on a method for priority evaluation for robots under disaster rescue environment
[21] This article is about a challenge that aims to accelerate the development of robots that can help humans, not only with nuclear emergencies but also with fires, floods, earthquakes, chemical spills, and other kinds of natural and man-made disasters.
[22] This patent is about video search and a rescue robot based on ZigBee wireless positioning and search and rescue method

Rescue robot interaction
[23] This paper provides a short tutorial on how robots are currently used in urban search and rescue and discusses some robot-human interaction issues encountered over the past eight years.
[24] This paper talks about non-facial and non-verbal affective expressions for appearance-constrained robots.

Prototypes of a spider robot
[25] This paper is about a high tech spider prototype, mady by reseachers of the Fraunhofer Institute for Manufacturing Engineering and Automation IPA. The prototype will provide emergency responders with an image of the situation on the ground, along with any data about poisonous substances. Future plans envision its use as an exploratory tool in environments that are too hazardous for humans, or too difficult to get to. Furthermore, the prototype is very cheap to produce.
[26] This site has an instruction guide to print 3D parts of a spider robot with four legs. It is possible to place an arduino in the middle of the design.
[27] This patent is for a novel rescue robot that can efficiently walk in a complex post-disaster area through a design of a spider-like structure

Robots with interesting factors
[28] This robot is portable and foldable and quickly carried in a backpack to a site where inspection, exploration, search and rescue, and other tasks are required to performed.