FUMA: environment information gathering wheeled rescue robot with one-DOF arm

Rescue robots are expected to become useful work partners for urban search and rescue (USAR) missions. Human rescuers who carry out these missions, frequently enter dangerous zones to search for survivors. However, due to the unstableness of the collapsed buildings or objects, rescuers' lives may also be threatened. For this reason, in order to reduce life-threatening risks, rescue robots can be deployed to carry out the job instead. Rescuers can now operate the robots at a safe distance while the missions are carried out. After the robots have gathered enough information in regard to the location of the victims and data about their physical conditions, rescuers can then enter the disaster site with enough knowledge to avoid harm and to rescue victims in the shortest time possible. This paper presents a wheel-type rescue robot we have developed for information collection purpose at disaster arenas that the robot was specifically designed for.