Self-Rappelling Robot System for Inspection and Reconnaissance in Search and Rescue Applications

A new type of self-rappelling search-and-rescue robot with chassis articulation, dubbed SPIDAR, has been developed and tested for use by first-responders. SPIDAR is built around a set of articulating body-sections, running a modular running-gear configuration (wheels, legs, tracks, etc.) to allow for maximum terrainability in chaotic collapsed urban structures. The on-board tether-system allows for continuous powering and real-time data/video feedback. The tether serves as a tensile member that allows for rappelling and winching the robot into and out of precipices and crevasses, with a range of up to 30 meters. The system is deployable and operable by a single person off a remote console. This paper describes the overall system design and prototype efforts to date, including testing on critical elements of the system and field-testing in a collapsed structure environment. Future testing is envisioned with first responders to further evaluate the prototype design and collect data for future improvements. The vehicle design was shown to be effective for terrainability and access into small/vertical spaces, but future improvements in key areas (tethering, displays, etc.) are recommended to improve system performance. The project is being funded by DARPA (Defense Advanced Projects Agency) with the intent to transfer technologies from the military domain to the civilian first-responder application markets.