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

中文翻译：

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用于救援任务的最大型移动机器人（Karo）的设计与实现

救援机器人有望在未知环境中执行非常规障碍物的侦察和灵巧操作。尽管在救援机器人领域内已经提出了各种各样的设计和实现方案，但是将所有移动性，灵巧性和侦察能力嵌入单个机器人中仍然是一个具有挑战性的问题。本文解释了Karo的设计和实现，该机器人在保持城市搜索与救援（USAR）任务所需的灵活性和探索能力的同时，具有高度的机动性。我们首先从RoboCup的救援机器人联盟（RRL）的框架中得出标准救援机器人的系统要求，然后通过起草运动和操纵系统提出Karo的概念设计。考虑到这一点，这项工作介绍了机器人平台及其7自由度机械手的全面设计过程以及详细的机械设计。此外，我们通过讨论机器人的电源系统，传感器和硬件系统，介绍了命令和控制系统的设计和实现。与此结合，我们阐明了Karo的软件系统和人机界面的实现和使用方式。此外，我们对Karo的现场表现进行了广泛的评估，以调查这项工作的主要目标是否得到满足。我们证明Karo通过在RRL的测试套件和消防部门的培训套件中评估其能力的各个方面，已经有效地完成了分配的标准化救援行动。最后，