Design and 3D reconstruction of a Tendon-Sheath-Driven searching and rescuing robot

In order to improve the performance of searching and rescuing robots, a Tendon-Sheath-Driven rescue robot system was designed and its posture and position's 3D reconstruction has been realized. Robot body, pushing mechanism, pulling mechanism, monitoring terminal, and Human-Robot interface (PC) was included in the system. Then a new and novel algorithm of 3D robot shape reconstruction was introduced in this paper. And the result can be shown in the Human-Robot Interface (HRI).The experimental results show that this reconstruction method has enough accuracy.