Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

Abstract Rescue robots are expected to carry out reconnaissance and dexterity operations in unknown environments comprising unstructured obstacles. Although a wide variety of designs implementations have been presented within the field rescue robotics, embedding all mobility, dexterity, capabilities single robot remains challenging problem. This paper explains design implementation Karo, mobile that exhibits high degree mobility at side maintaining required exploration for urban search (USAR) missions. We first elicit system requirements standard from frameworks Robot League (RRL) RoboCup then, propose conceptual Karo by drafting locomotion manipulation system. Considering that, this work presents comprehensive processes along with detail mechanical robot’s platform its 7-DOF manipulator. Further, we present command control discussing power system, sensors, hardware systems. In conjunction this, elucidate way Karo’s software human–robot interface implemented employed. Furthermore, undertake extensive evaluations performance investigate whether principal objective has satisfied. demonstrate effectively accomplished assigned standardized evaluating aspects both RRL’s test suites training fire department. Finally, comprehensiveness verified drawing quantitative comparisons between other leading participating RRL.