Double-track mobile robot for hazardous environment applications

This paper introduces a link-type tracked vehicle, which is developed for potential applications such as Ž re Ž ghting, handicapped assistance and mine detection in various hazardous environments. The vehicle consists of three parts — front frame, rear frame and body. The front frame is connected to the rear frame by a rotational passive adaptation mechanism, which is the driving mechanism of the vehicle. This is similar to a link structure such that one frame rotates to the other by external forces between the vehicle and the ground. This passive adaptation mechanism permits good adaptability to uneven terrain including stairs. This link structure also improves energy efŽ ciency, and makes the vehicle simple and small. The body is a control system for remote control of the vehicle. It communicates visual and distance information to the operator, and commands direction and velocity orders.