ASTM E2802/E2802M-21
(Test Method)Standard Test Method for Evaluating Response Robot Mobility Using Variable Hurdle Obstacles
Standard Test Method for Evaluating Response Robot Mobility Using Variable Hurdle Obstacles
SIGNIFICANCE AND USE
5.1 This test method is part of an overall suite of related test methods that provide repeatable measures of robotic system mobility and remote operator proficiency. The variable hurdle obstacle as described challenges robotic system locomotion, suspension systems to maintain traction, rollover tendencies, self-righting (if necessary), chassis shape variability (if available), and remote situational awareness by the operator. As such, the variable hurdle obstacle can be used to represent obstacles in the environment, such as railroad tracks, curbs, and debris.
5.2 The scale of the apparatus can vary to provide different constraints representative of typical obstacle spacing in the intended deployment environment. For example, the three configurations can be representative of repeatable complexity for unobstructed obstacles (open configuration), relatively open parking lots with spaces between cars (rectangular confinement configuration), or within bus, train, or plane aisles, or dwellings with hallways and doorways (square confinement configuration).
5.3 The test apparatuses are low cost and easy to fabricate so they can be widely replicated. The procedure is also simple to conduct. This eases comparisons across various testing locations and dates to determine best-in-class systems and operators.
5.4 Evaluation—This test method can be used in a controlled environment to measure baseline capabilities. The variable hurdle obstacle can also be embedded into operational training scenarios to measure degradation due to uncontrolled variables in lighting, weather, radio communications, GPS accuracy, etc.
5.5 Procurement—This test method can be used to identify inherent capability trade-offs in systems, make informed purchasing decisions, and verify performance during acceptance testing. This aligns requirement specifications and user expectations with existing capability limits.
5.6 Training—This test method can be used to focus operator training as a repea...
SCOPE
1.1 This test method is intended for remotely operated ground robots operating in complex, unstructured, and often hazardous environments. It specifies the apparatuses, procedures, and performance metrics necessary to measure the capability of a robot to negotiate an obstacle in the form of hurdles. This test method is one of several related mobility tests that can be used to evaluate overall system capabilities.
1.2 The robotic system includes a remote operator in control of most functionality, so an onboard camera and remote operator display are typically required. This test method can be used to evaluate assistive or autonomous behaviors intended to improve the effectiveness or efficiency of remotely operated systems.
1.3 Different user communities can set their own thresholds of acceptable performance within this test method for various mission requirements.
1.4 Performing Location—This test method may be performed anywhere the specified apparatuses and environmental conditions can be implemented.
1.5 Units—The International System of Units (a.k.a. SI Units) and U.S. Customary Units (a.k.a. Imperial Units) are used throughout this document. They are not mathematical conversions. Rather, they are approximate equivalents in each system of units to enable use of readily available materials in different countries. The differences between the stated dimensions in each system of units are insignificant for the purposes of comparing test method results, so each system of units is separately considered standard within this test method.
1.6 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.
1.7 This international standard was developed in accordance with internation...
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Designation: E2802/E2802M − 21
Standard Test Method for
Evaluating Response Robot Mobility Using Variable Hurdle
1
Obstacles
ThisstandardisissuedunderthefixeddesignationE2802/E2802M;thenumberimmediatelyfollowingthedesignationindicatestheyear
of original adoption or, in the case of revision, the year of last revision. A number in parentheses indicates the year of last reapproval.
A superscript epsilon (´) indicates an editorial change since the last revision or reapproval.
INTRODUCTION
The robotics community needs ways to measure whether a particular robot is capable of performing
specific missions in complex, unstructured, and often hazardous environments.These missions require
various combinations of elemental robot capabilities. Each capability can be represented as a test
method with an associated apparatus to provide tangible challenges for various mission requirements
and performance metrics to communicate results. These test methods can then be combined and
sequenced to evaluate essential robot capabilities and remote operator proficiencies necessary to
successfully perform intended missions.
TheASTM International Standards Committee on Homeland SecurityApplications (E54) specifies
these standard test methods to facilitate comparisons across different testing locations and dates for
diverse robot sizes and configurations. These standards support robot researchers, manufacturers, and
user organizations in different ways. Researchers use the standards to understand mission
requirements, encourage innovation, and demonstrate break-through capabilities. Manufacturers use
the standards to evaluate design decisions, integrate emerging technologies, and harden systems.
Emergency responders and soldiers use them to guide purchasing decisions, align deployment
expectations, and focus training with standard measures of operator proficiency. Associated usage
guides describe how these standards can be applied to support various objectives.
Several suites of standards address these elemental capabilities including maneuvering, mobility,
dexterity, sensing, energy, communications, durability, proficiency, autonomy, and logistics. This
standard is part of the Mobility suite of test methods.
1. Scope 1.3 Different user communities can set their own thresholds
of acceptable performance within this test method for various
1.1 This test method is intended for remotely operated
mission requirements.
ground robots operating in complex, unstructured, and often
hazardous environments. It specifies the apparatuses, 1.4 Performing Location—This test method may be per-
procedures, and performance metrics necessary to measure the formed anywhere the specified apparatuses and environmental
capability of a robot to negotiate an obstacle in the form of conditions can be implemented.
hurdles.Thistestmethodisoneofseveralrelatedmobilitytests
1.5 Units—The International System of Units (a.k.a. SI
that can be used to evaluate overall system capabilities.
Units) and U.S. Customary Units (a.k.a. Imperial Units) are
1.2 Theroboticsystemincludesaremoteoperatorincontrol
used throughout this document. They are not mathematical
of most functionality, so an onboard camera and remote conversions. Rather, they are approximate equivalents in each
operator display are typically required.This test method can be
system of units to enable use of readily available materials in
used to evaluate assistive or autonomous behaviors intended to different countries. The differences between the stated dimen-
improve the effectiveness or efficiency of remotely operated
sions in each system of units are insignificant for the purposes
systems. of comparing test method results, so each system of units is
separately considered standard within this test method.
1
1.6 This standard does not purport to address all of the
This test method is under the jurisdiction of ASTM Committee E54 on
Homeland Security Applications and is the direct responsibility of Subcommittee
safety concerns, if any, associated with its use. It is the
E54.09 on Response Robots.
responsibility of the user of this standard to establish appro-
Current edition approved March 1, 2021. Published March 2021. Originally
priate safety, health, and environmental practices and deter-
approved in 2011. Last previous edition approved in 2020 as E2802 – 11 (2020).
DOI: 10.1520/E2802_E2802M-21. mine the applicability of regulatory limitations prior to use.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1
---------------------- Page: 1 ----------------------
E2802/E2802M − 21
1.7 This international standard was developed in accor- or response robot, fault condition, operator, operator station,
dance with internationally recognized principles on standard- remote control, repetition, robot
...
This document is not an ASTM standard and is intended only to provide the user of an ASTM standard an indication of what changes have been made to the previous version. Because
it may not be technically possible to adequately depict all changes accurately, ASTM recommends that users consult prior editions as appropriate. In all cases only the current version
of the standard as published by ASTM is to be considered the official document.
Designation: E2802 − 11 (Reapproved 2020) E2802/E2802M − 21
Standard Test Method for
Evaluating Emergency Response Robot Capabilities:
Mobility: Confined Area Obstacles: HurdlesMobility Using
1
Variable Hurdle Obstacles
This standard is issued under the fixed designation E2802;E2802/E2802M; the number immediately following the designation indicates
the year of original adoption or, in the case of revision, the year of last revision. A number in parentheses indicates the year of last
reapproval. A superscript epsilon (´) indicates an editorial change since the last revision or reapproval.
INTRODUCTION
The robotics community needs ways to measure whether a particular robot is capable of performing
specific missions in complex, unstructured, and often hazardous environments. These missions require
various combinations of elemental robot capabilities. Each capability can be represented as a test
method with an associated apparatus to provide tangible challenges for various mission requirements
and performance metrics to communicate results. These test methods can then be combined and
sequenced to evaluate essential robot capabilities and remote operator proficiencies necessary to
successfully perform intended missions.
The ASTM International Standards Committee on Homeland Security Applications (E54) specifies
these standard test methods to facilitate comparisons across different testing locations and dates for
diverse robot sizes and configurations. These standards support robot researchers, manufacturers, and
user organizations in different ways. Researchers use the standards to understand mission
requirements, encourage innovation, and demonstrate break-through capabilities. Manufacturers use
the standards to evaluate design decisions, integrate emerging technologies, and harden systems.
Emergency responders and soldiers use them to guide purchasing decisions, align deployment
expectations, and focus training with standard measures of operator proficiency. Associated usage
guides describe how these standards can be applied to support various objectives.
Several suites of standards address these elemental capabilities including maneuvering, mobility,
dexterity, sensing, energy, communications, durability, proficiency, autonomy, and logistics. This
standard is part of the Mobility suite of test methods.
1. Scope
1.1 Purpose: This test method is intended for remotely operated ground robots operating in complex, unstructured, and often
hazardous environments. It specifies the apparatuses, procedures, and performance metrics necessary to measure the capability of
a robot to negotiate an obstacle in the form of hurdles. This test method is one of several related mobility tests that can be used
to evaluate overall system capabilities.
1.1.1 The purpose of this test method, as a part of a suite of mobility test methods, is to quantitatively evaluate a teleoperated
ground robot’s (see Terminology E2521) capability of traversing vertical obstacles in confined areas.
1
This test method is under the jurisdiction of ASTM Committee E54 on Homeland Security Applications and is the direct responsibility of Subcommittee E54.09 on
Response Robots.
Current edition approved Jan. 1, 2020March 1, 2021. Published January 2020March 2021. Originally approved in 2011. Last previous edition approved in 20112020 as
E2802 – 11.E2802 – 11 (2020). DOI: 10.1520/E2802-11R20.10.1520/E2802_E2802M-21.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1
---------------------- Page: 1 ----------------------
E2802/E2802M − 21
1.1.2 Robots shall possess a certain set of mobility capabilities, including negotiating obstacles, to suit critical operations such as
emergency responses. A vertical step with an unknown edge condition is a type of obstacle that exists in emergency response and
other environments. These environments often pose constraints to robotic mobility to various degrees. This test method specifies
apparatuses, procedures, and metrics to standardize this obstacle for testing.
1.1.3 The test apparatuses are scalable to provide a range of lateral dimensions to constrain the robotic mobility during task
performance. Fig. 1 shows three apparatus sizes to test robots intended for different emergency response scenarios.
1.1.4 Emergency response ground robots shall be able to handle many types of obstacles and terrain complexities. The required
mobility capabilities include traversing gaps, hurdles, stairs, slopes, various types of floor surfaces or
...
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