Abstract
Fire-fighting has long been a dangerous task to man, so robots have been developed to fight fire. Up to now, the fire-fighting robots have mainly been driven by electric power and have reliability problems when exposed to fire. So, we propose to make a water hydraulic fire-fighting robot. The proposed robot, which mainly consists of 10 leg-wheels, can run along flat ground, climb steps, go directly into firing places. The wheels can run fast along flat places and the legs can go up and down. The wheels are driven by two water hydraulic motors and the legs are driven by water hydraulic cylinders. The mechanism and the control method of the robot are discussed in this paper.
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