A Remotely Operated Robotic System for Urban Search and Rescue

This paper introduces a remotely operated robotic system being developed for urban search and rescue. It consists of two mobile robots named "QuadTrack" and "Centipede" respectively. The QuadTrack has four modular track arms which can be driven independently to get traction force. The modular track arms can also be rotated with respect to their arm axes to lift the body. The Centipede is a multi-linked mobile robot having multiple driving wheels and active joints. The QuadTrack carries the Centipede to the collapsed areas where victims could be under the rubbles. This paper describes the structures of the robots and shows some experimental results