ASGUARD II

Advanced Security Guard V2


Technical Details

Size: 95 cm x 54 cm x 42 cm
Weight: 9,5 kg
Power supply:
10Ah / 30V
Speed: 2 m/sec
Actuation/ Engine:
4 x 80 watts Faulhaber dc motors – planetary gear 46:1
Sensors:
Motor encoders, Current sensors
Application Sensors:
Zoom- and IR-camera

Organisational Details

Application Field: SAR- & Security Robotics
Related Projects: SentryBot II
An Autonomous, Co-Operative Multi-Robot System for Security and Surveillance (06.2007- 12.2007)
TRAILER
Tandem of Rover and Associated Wain for Lunar Extended Roaming (09.2019- 08.2021)
This system is used for teaching students.

System description

Asguard on our Robot Testtrack (Photo: DFKI)
Photo: DFKI

For outdoor locomotion of mobile robots, one has to cope with different requirements for such systems. These robots have to be highly agile and fast on flat ground and, at the same time, should be able to deal with very rough terrain, e.g. rubble, gravel, and even stairs.

This is particularly true for robots which are used for surveillance and search and rescue missions (SAR) in outdoor environment as well as for robots for remote inspection, such as CBRNE detection in crises situations. Tracked robots are currently regarded as the best trade-off between high velocity and mobility in rough terrain. Those systems have the drawback of high energy consumption due to friction and are generally not able to climb stairs or very steep slopes.

The two other locomotion modes are legged robots (as for instance Scorpion), which are very agile but lack speed and the classical wheeled systems. To get the best of both those modes, we developed the hybrid legged-wheeled robot ASGUARD (cf. Figure 1). The robot was designed to be used in harsh outdoor environment with a focus on security and outdoor surveillance as well as on disaster mitigation missions. For those applications, a robot has to transport a variety of mission-depending application sensors inside a difficult terrain.

ASGUARD can climb stairs by using an adaptive, bio-inspired control approach. With the same controller configuration, the robot can traverse flat and even ground with high speed.

In further iterations, ASGUARD has been provided with a custom-made high-performance motor controllers that would help improving its capabilities even more.

Videos

ASGUARD v2: Field trip (June 2008)

ASGUARD overcomes various obstacles on a field trip to Potsdam.

ASGUARD v2: Intelligent mobility (Final promotion)

Final Promotion Video for Asguard v2 in the iMoby-projekt.

ASGUARD v2: First water drive

ASGUARD II swims for the first time in the pond at DFKI Bremen. The ASGUARD II (Advanced Security Guard) robot is a highly mobile platform that can move fast on flat terrain, overcome obstacles and climb stairs. This robot is actuated by four wheels and has a body with a passive degree of freedom.

ASGUARD v2: Outdoor test drive

ASGUARD II runs over a variety of obstacles and climb stairs. The The ASGUARD II (Advanced Security Guard) robot is a highly mobile platform that can move fast on flat terrain, overcome obstacles and climb stairs. This robot is actuated by four wheels and has a body with a passive degree of freedom. The obstacles in this video are part of the robot test track that was built at the DFKI building in Bremen.

ASGUARD v2: Snow run

ASGUARD on a snow run.

ASGUARD v2: Underwater walk

You see Asguard running underwater through a pond. The weight of the robot was to be increased by an extra 3kg.

Photos: DFKI GmbH, two photos b.r.: Photostudio Banck

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last updated 07.11.2023