Features of UMRS2009 special components

Rescue robots have to work in a variety of terrains, so the drive train of these robots must be robust against load changes including impulsive forces like collisions. To address this issue, the super- robust HFD actuator was developed. Also robots have to have special mechanisms to enter rooms by opening doors. A door opening system composed of a manipulator unit and suction mechanical unit for search robots was developed. The specific features of these robot components are reported in this paper.