A whole-body rescue motion control with task-priority strategy for a rescue robot

Abstract

This paper introduces a new rescue robot consisting of dual-manipulator and variable configuration mobile platform for multi-purpose such as casualty extraction and hazardous goods transport. A specific rescue motion strategy using a whole-body is suggested to tackle characteristics of the robot configuration and balancing issue. In order to take into account safety and stability of the robot during the rescue motions, some restrictions are reflected into redundant domain of the robot with different priority. For stable motion control in various scenarios, a singularity-robust inverse kinematics is adopted and modified to induce smoother robot movement. The robustness of the control approach is checked numerically by comparing other method and experiments for the rescue motion strategy are carried out by using a small-scaled simulator in place of the rescue robot under development.