ASTM E2830 - 11

    Standard Test Method for Evaluating the Mobility Capabilities of Emergency Response Robots Using Towing Tasks: Grasped Sleds

    Active Standard ASTM E2830 | Developed by Subcommittee: E54.08

    Book of Standards Volume: 15.08


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    Significance and Use

    This test method corresponds to the requirements as specified by U.S. emergency responders and additional constituents. A robots performance in this test is indicative of its capabilities needed in such operations as emergency responses. To have the successfully tested robots available to the emergency operations is consistent with the National Response Framework.

    Although these test methods were developed first for emergency response robots, they may be applicable to other operational domains, such as law enforcement and military. They can also be used to ascertain operator proficiencies during training or serve as practice tasks that exercise robot actuators, sensors, and OCUs.

    The standard apparatus is specified to be easily assembled to facilitate robotic developers self evaluation of the robots and facilitate the emergency responders and other users proficiency training in applying the robotic tools.

    The objective of using robots in emergency response operations is to enhance the emergency responders capability of operating in hazardous or hard-to-reach environments. The testing results of the candidate robot shall describe, in a statistically significant way, how reliably the robot is able to traverse the obstacle, thus enabling emergency responders to determine the applicability of the robot.

    1. Scope

    1.1 Purpose:

    1.1.1 The purpose of this test method, as a part of a suite of mobility test methods, is to quantitatively evaluate a teleoperated ground robots towing capability with the task of grasping loads and traversing a specified route on a flat and paved surface.

    1.1.2 Robots shall possess a certain set of mobility capabilities, including towing, to suit critical operations such as emergency responses. This capability would be required to perform such emergency response-related tasks as delivering critical supplies, moving victims to safe locations, or transporting suspected packages away from humans.

    1.1.3 Emergency response ground robots shall be able to handle many types of obstacles and terrains. The required mobility capabilities include traversing gaps, hurdles, stairs, slopes, various types of floor surfaces or terrains, and confined passageways. Yet additional mobility requirements include sustained speeds and towing capabilities. Standard test methods are required to evaluate whether candidate robots meet these requirements.

    1.1.4 ASTM Task Group E54.08.01 specifies a mobility test suite, which consists of a set of test methods for evaluating these mobility capability requirements. This towing-by-grasping test method is a part of the mobility test suite. The apparatuses associated with the test methods challenge specific robot capabilities in repeatable ways to facilitate comparison of different robot models as well as particular configurations of similar robot models.

    1.1.5 The test methods quantify elemental mobility capabilities necessary for ground robot emergency response applications. As such, the test suite should be used collectively to represent a ground robots overall mobility performance.

    Note 1—Additional test methods within the suite are anticipated to be developed to address additional or advanced robotic mobility capability requirements, including newly identified requirements and even for new application domains.

    1.2 Performing LocationThis test method shall be performed in a testing laboratory or the field where the specified apparatus and environmental conditions are implemented.

    1.3 UnitsThe values stated in SI units are to be regarded as the standard. The values given in parentheses are mathematical conversions to inch-pound units that are provided for information only and are not considered standard.

    1.4 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety and health practices and determine the applicability of regulatory limitations prior to use.


    2. Referenced Documents (purchase separately) The documents listed below are referenced within the subject standard but are not provided as part of the standard.

    ASTM Standards

    E2521 Terminology for Urban Search and Rescue Robotic Operations

    E2592 Practice for Evaluating Cache Packaged Weight and Volume of Robots for Urban Search and Rescue

    Other Standards

    NationalResponseFram U.S. Department of Homeland Security Available from Federal Emergency Management Agency (FEMA), P.O. Box 10055, Hyattsville, MD 20782-8055, http://www.fema.gov.


    UNSPSC Code

    UNSPSC Code


    DOI: 10.1520/E2830-11

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