1. Scope
The purpose of this test method, as a part of a suite of mobility test methods, is to quantitatively evaluate a remotely teleoperated robots capability of crossing horizontal and static gaps in confined areas. The apparatus associated with this test method challenges specific robot capabilities in repeatable ways to facilitate direct comparison of different robot models as well as particular configurations of similar robot models. The apparatus specifies two separated flat platforms with an even height. The gap size can be adjusted as the testing requires. This apparatus can fit into a standard ISO shipping container to facilitate testing in temperature extremes and other environmental conditions such as darkness, smoke, rain, etc. The primary metric is how wide a gap the robot is able to fully traverse for a specified, statistically significant number of repetitions. A secondary metric, the time the robot takes to complete the test, provides a relative indication of performance. The suite of mobility test methods quantifies a corresponding set of elemental capabilities necessary for ground robot emergency response applications. As such, the suite should be used collectively to capture the overall mobility performance. The current, first set of the test methods include sustained speed on a flat surface, gap crossing, traverses on inclined planes, stairs, pipe steps, continuous ramp terrains, crossing ramp terrains, and symmetric step-field terrains, and towing tasks using hitches and grippers. Additional test methods will be developed within the suite to fully address robot mobility capabilities requirements. This suite of test methods characterizes the mobility capabilities of ground robots intended to be operated in human-scale, complex environments with variables including terrains, lighting, temperature, etc. Robots under test shall be teleoperated via operator control units (OCUs) that are out of sight and sound of the test apparatuses but within the radio or tethered communications range, except when the communication is the subject of the testing. The robotic configuration, as to be tested, shall be specified for all the subsystems and is to remain the same for all the suites of the test methods, as appropriate. Any variation in robot configuration will result in retesting for all the suites of the test methods to provide a comprehensive perspective of the performance for the particular robotic variant. Systems with assistive capabilities or autonomous behaviors are not specifically rewarded in the performance metrics. However, any associated demonstration of improved operator/robot performance, efficiency, and/or survivability under test will be captured
These test methods were developed specifically for emergency response robots, they may be applicable to other application domains. They can be used to ascertain operator proficiencies during training. They can provide practice tasks that exercise robotic control, including actuators, sensors, and operator interfaces. They can also provide performance objectives for the corresponding subsystems on the robots.
Keywords
emergency response, mobility, operator control unit (OCU), remote teleoperation, responders, robot, test suite, urban search and rescue (US&R)
The title and scope are in draft form and are under development within this ASTM Committee.
Citing ASTM Standards
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