Self-Configurable Centipede-Inspired Rescue Robot

Abstract

Drawing from the characteristics of centipedes, such as their low center of gravity, high stability in movement, adaptability to complex terrains, and ability to continue moving even after losing a limb, this paper designs a self-reconfigurable centipede-type rescue robot with relatively high stability while moving. The robot’s body can lift and traverse higher obstacles, and its multi-segmented structure enables self-disconnection and reconstruction for docking. Moreover, the proposed robot is adept at navigating diverse terrains and surmounting obstacles, equipped with a camera sensor facilitating life recognition, terrain surveying, scene understanding, and obstacle avoidance. Its capabilities prove advantageous for achieving challenging ground rescue missions. Motion stability tests, conducted across various terrains, showcase the robot’s ability to maintain a consistent movement path in rugged environments. Operating with a leg lift height of 0.02 m, the robot achieves a speed of 0.09 m per second. In simulated damaged conditions, the robot demonstrates the capacity to disconnect and reconnect its limbs swiftly, restoring movement capabilities within a single second. During environmental perception tasks, the robot processes and analyzes environmental data in real time at a rate of approximately 15 frames per second, with an 80% confidence level. With an F1 score exceeding 93% and an average precision rate surpassing 98%, the robot showcases its reliability and efficiency.