One of the most difficult challenges for terrestrial robotic platforms in disaster scenarios is their inability to traverse highly irregular terrain. Many different robotic architectures have been proposed over recent years, each with benefits and shortfalls. In this work, we propose a Polyurethane Foam depositing system, which can be applied to any such platform and increase its ability to overcome obstacles significantly. The system proposed is inexpensive, and the way in which it overcomes obstacles allows very simple control systems for autonomy. The deposited foam has a potential expansion ratio of over 33 × its constituent parts and a final compressive strength exceeding 2 MPa, final mechanical properties can be tuned on board. The system has been implemented on a two-tracked rover and its autonomous responses tested against significant objects and chasms. The results show that the amount of foam deposited can be well controlled and multiple layers can be stacked on top of each other to significantly increase altitude.


    Access

    Download


    Export, share and cite



    Title :

    A Robust Polyurethane Depositing System for Overcoming Obstacles in Disaster Scenario Robotics



    Publication date :

    2019-07-17


    Remarks:

    In: Althoefe, K and Konstantinova, J and Zhang, K, (eds.) Proceedings of TAROS 2019: Towards Autonomous Robotic Systems. (pp. pp. 295-306). Springer: London, UK. (2019)


    Type of media :

    Paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Overcoming Obstacles to Success

    Kostek | Online Contents | 1997


    Robot capable of overcoming obstacles

    RAN QI / WANG XINYING | European Patent Office | 2021

    Free access

    METHOD OF OVERCOMING OBSTACLES / VERSIONS/

    STAROVEROV NIKOLAJ EVGENEVICH | European Patent Office | 2016

    Free access

    Overcoming obstacles to rural mobility

    Dunn, S. W. | British Library Conference Proceedings | 1995


    METHOD OF OVERCOMING OBSTACLES-2

    STAROVEROV NIKOLAJ EVGENEVICH | European Patent Office | 2016

    Free access