Designation:E2802−11StandardTestMethodforEvaluatingEmergencyResponseRobotCapabilities:Mobility:ConfinedAreaObstacles:Hurdles1ThisstandardisissuedunderthefixeddesignationE2802;thenumberimmediatelyfollowingthedesignationindicatestheyearoforiginaladoptionor,inthecaseofrevision,theyearoflastrevision.Anumberinparenthesesindicatestheyearoflastreapproval.Asuperscriptepsilon(´)indicatesaneditorialchangesincethelastrevisionorreapproval.1.Scope1.1Purpose:1.1.1Thepurposeofthistestmethod,asapartofasuiteofmobilitytestmethods,istoquantitativelyevaluateateleoper-atedgroundrobot’s(seeTerminologyE2521)capabilityoftraversingverticalobstaclesinconfinedareas.1.1.2Robotsshallpossessacertainsetofmobilitycapabilities,includingnegotiatingobstacles,tosuitcriticaloperationssuchasemergencyresponses.Averticalstepwithanunknownedgeconditionisatypeofobstaclethatexistsinemergencyresponseandotherenvironments.Theseenviron-mentsoftenposeconstraintstoroboticmobilitytovariousdegrees.Thistestmethodspecifiesapparatuses,procedures,andmetricstostandardizethisobstaclefortesting.1.1.3Thetestapparatusesarescalabletoprovidearangeoflateraldimensionstoconstraintheroboticmobilityduringtaskperformance.Fig.1showsthreeapparatussizestotestrobotsintendedfordifferentemergencyresponsescenarios.1.1.4Emergencyresponsegroundrobotsshallbeabletohandlemanytypesofobstaclesandterraincomplexities.Therequiredmobilitycapabilitiesincludetraversinggaps,hurdles,stairs,slopes,varioustypesoffloorsurfacesorterrains,andconfinedpassageways.Yetadditionalmobilityrequirementsincludesustainedspeedsandtowingcapabilities.Standardtestmethodsarerequiredtoevaluatewhethercandidaterobotsmeettheserequirements.1.1.5ASTMTaskGroupE54.08.01onRoboticsspecifiesamobilitytestsuite,whichconsistsofasetoftestmethodsforevaluatingthesemobilitycapabilityrequirements.Thiscon-finedareahurdletestmethodisapartofthemobilitytestsuite.Theapparatusesassociatedwiththetestmethodschallengespecificrobotcapabilitiesinrepeatablewaystofacilitatecomparisonofdifferentrobotmo...
