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Table 1 System requirements of Karo

From: Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

Power

Endurance: continuous ramps

Distance (m) per charge

2000

Time (min) per charge

60

Battery life cycle

300

Mobility

Terrain: Flat Surface

Capability to repeat a 100-m path for 10 times (Y/N)

Y

Average time per repetition (s)

200

Obstacle: Inclined Plane

Maximum incline (°) with 10 repetitions for vertical, diagonal, and horizontal paths

40

Average time per repetition (s)

30

Gap Crossing

Maximum gap (cm) traversed for 10 repetitions

45

Average time per repetition (s)

15

Stair Climbing

Maximum successful incline (°) for 10 repetitions

45

Average time per repetition (s)

15

Manipulation

Maximum height of reaching space (m)

1.7

Payload (kg)

8

Door opening capability (Y/N)

Y

Sensor

Visual

Colored video (Y/N)

Y

Near (40 cm) field acuity (Y/N)

Y

Far (6 m) field acuity (Y/N)

N

Field of view (°)

35*75

Resolution (ppi)

1024*768

Audio

Full/half-duplex communication (Y/N)

Y

Localization and Mapping

Capability to generate map in a maze with flat ground (Y/N)

Y

Capability to generate map in a maze with uneven ground (Y/N)

Y

Radio Communication

Maximum distance in Line-of-Sight (m)

1500

Maximum distance in Non-Line-of-Sight (m)

800

Human-System Interaction

Interface

Xbox 360 joystick

Control scheme

Tele-operated