Mechanism and Structures: Humanoids and Quadrupeds - Bioinspired Approaches for Human-Centric Technologies - page 134

Fig. 5.2 Highly
unstructured “disaster”
environments require
dynamic mobile responses
5.2 Operational Scenarios for Legged Robots
5.2.1 Disaster-Relief Scenario
Recent natural disasters such as the 2011 earthquake and tsunami in Japan, Fig. 5.2 ,
and the subsequent human-centred problems at the Fukushima nuclear power plant
have dramatically highlighted the need for effective and efficient robotic systems
that can be deployed rapidly after the disaster, to assist in tasks too hazardous for
humans to perform. Unfortunately, despite the developments in robotics, current
state-of-the-art systems still do not demonstrate a capability to operate in such
unstructured and unpredictable environments.
The importance of this field of research has been highlighted by the latest
DARPA Robotics Challenge (DRC) (Darpa 2013 ; Fig. 5.3 ).
Although the DRC certainly sets daring and worthwhile targets, it is by no means
unique and further specifications will come from other independent agencies, such
as the Japanese Project on Disaster Response Robots of the Council on Competi-
tiveness or on-going European projects.
5.2.2 Robots Working in Hazardous Industries
But it is also important to note that the use of legged systems need not only be
considered in extreme disaster scenarios. In a less destructive but not unrelated
context, humans are often required to work in plants that potentially pose a high
level of risk to life and/or health. This will occur in nuclear, chemical, petroleum, etc.,
facilities and in advanced scientific facilities such as accelerators, synchrotrons, etc.
These environments are characterised by the presence of steps and stairs, elevators
and sometimes also ladders, narrow platforms and spaces with steps and various
kinds of obstacles such as cables on the floor. In some instances (Electra 2011 ),