开源可重构履带式救援机器人，能爬废墟、操作阀门，适合应急响应研究。
Athena: An Autonomous Open-Hardware Tracked Rescue Robot Platform
- 四条可独立调节的履带臂，适应复杂地形
- 机械臂最大伸展1.54米，可操作门阀等物体
- 全开源设计，含硬件与底层软件，支持快速迭代
在灾害救援与现场评估中，机器人可显著降低一线人员风险。由于任务环境多样且未知，需异构机器人团队协同应对。无人机虽能快速侦察，但载荷能力有限；地面机器人需具备负载能力，同时能穿越碎石、楼梯等复杂地形。具有可重构履带臂（翻转机构）的平台在地形适应性上表现优异。本文提出Athena——一款开源硬件救援地面机器人平台，配备四条可独立调节的翻转履带及可靠的低成本远程紧急停止系统。采用工业级聚氨酯皮带与齿形嵌件实现不同履带结构的快速更换与测试。其机械臂最大作业半径达1.54米，可用于开启门、操作阀门等任务。所有完整CAD图纸、PCB设计及底层软件均以开源形式发布，支持科研与工程复用。
原文摘要 · Abstract (English)
In disaster response and situation assessment, robots have great potential in reducing the risks to the safety and health of first responders. As the situations encountered and the required capabilities of the robots deployed in such missions differ wildly and are often not known in advance, heterogeneous fleets of robots are needed to cover a wide range of mission requirements. While UAVs can quickly survey the mission environment, their ability to carry heavy payloads such as sensors and manipulators is limited. UGVs can carry required payloads to assess and manipulate the mission environment, but need to be able to deal with difficult and unstructured terrain such as rubble and stairs. The ability of tracked platforms with articulated arms (flippers) to reconfigure their geometry makes them particularly effective for navigating challenging terrain. In this paper, we present Athena, an open-hardware rescue ground robot research platform with four individually reconfigurable flippers and a reliable low-cost remote emergency stop (E-Stop) solution. A novel mounting solution using an industrial PU belt and tooth inserts allows the replacement and testing of different track profiles. The manipulator with a maximum reach of 1.54m can be used to operate doors, valves, and other objects of interest. Full CAD & PCB files, as well as all low-level software, are released as open-source contributions.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。