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Publication Citation: Stepfield Pallets: Repeatable Terrain for Evaluating Robot Mobility

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Author(s): Adam S. Jacoff; Anthony J. Downs; Ann M. Virts; Elena R. Messina;
Title: Stepfield Pallets: Repeatable Terrain for Evaluating Robot Mobility
Published: December 31, 2008
Abstract: Stepfield pallets are a fabricated and repeatable terrain for evaluating robot mobility. They were developed to provide emergency responders and robot developers a common mobility challenge that could be easily replicated to capture statistically significant robot performance data. Stepfield pallets have provided robot mobility challenges for the international RoboCupRescue Robot League competitions since 2005 and have proliferated widely for practice and qualification. They are currently being proposed as a standard test apparatus to evaluate robot mobility. This paper describes the origin and design of stepfield pallets, and discusses their use in several proposed standard test methods for response robots.
Proceedings: Proceedings of the 2008 Performance Metrics for Intelligent Systems (PerMIS) Workshop
Pages: pp. 29 - 34
Location: Gaithersburg, MD
Dates: August 19-21, 2008
Keywords: Stepfield; step field; robot mobility; test method; artificial rubble; RoboCupRescue
Research Areas: Metrology and Standards for Manufacturing Systems and Data
PDF version: PDF Document Click here to retrieve PDF version of paper (2MB)