Development of a door opening system on rescue robot for search “UMRS-2007”

In rescue operation with a group of rescue robots, the robot has an ability to move around freely even if there are doors parting rooms. Since Great Hanshin Awaji earthquake, the rescue robot series named UMRS have been developed. This time the robot with a door opening system has been developed. This robot has the manipulator to locate the end effecter precisely to door knob position and the hand to grip and rotate this knob. The outline of this robot and the sequence of this door opening are reported in this paper.