A. Ferworn, C. Wright, J. Tran, C. Li, H. Choset
Abstract — One of the many challenges in developing ground response robots for Urban Search and Rescue (USAR) is endowing them with mobility that allows traversal of challenging terrain. In a preliminary study we introduced a new approach to the mobility problem that utilizes USAR dogs to deliver robots close to human victims in rubble. The results indicated that some search dogs are able to carry a small robot to a victim. This paper extends the original work – this time employing a more capable snake robot. Snake robots have much better maneuverability within rubble than wheeled or tracked robots. Unfortunately they are very slow – making timely rubble traversal a moot point. The premise of this work is that our hybrid system exhibits the advantages of rapid canine mobility with the flexibility and sensing capability of a snake robot.
Citation: A. Ferworn, C. Wright, J. Tran, C. Li, H. Choset, “Dog and snake marsupial cooperation for urban search and rescue deployment,” in IEEE International Workshop on Safety, Security & Rescue Robotics (SSRR-2012), Nov 5 – 8 2012, College Station, TX; United States, 2012