ASTM E2826/E2826M-20
(Test Method)Standard Test Method for Evaluating Response Robot Mobility Using Continuous Pitch/Roll Ramp Terrains
Standard Test Method for Evaluating Response Robot Mobility Using Continuous Pitch/Roll Ramp Terrains
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. This continuous pitch/roll ramp terrain specifically challenges robotic system locomotion, suspension systems to maintain traction, rollover tendencies, self-righting in complex terrain (if necessary), chassis shape variability (if available), and remote situational awareness by the operator. As such, it can be used to represent modest outdoor terrain complexity or indoor debris within confined areas.
5.2 The overall size of the terrain apparatus can vary to provide different constraints depending on the typical obstacle spacing of the intended deployment environment. For example, the terrain with containment walls can be sized to represent repeatable complexity within bus, train, or plane aisles; dwellings with hallways and doorways; relatively open parking lots with spaces between cars; or unobstructed terrains.
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. It 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 repeatable practice task or as an embedded task within training scenarios. The resulting measures of remot...
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 traverse complex terrains in the form of continuous pitch/roll ramps. 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 all functionality, so an onboard camera and remote operator display are typically required. Assistive features or autonomous behaviors that improve the effectiveness or efficiency of the overall system are encouraged.
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 (SI Units) and U.S. Customary Units (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. This avoids excessive purchasing and fabrication costs. 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 develo...
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This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the
Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.
Designation: E2826/E2826M − 20
Standard Test Method for
Evaluating Response Robot Mobility Using Continuous
1
Pitch/Roll Ramp Terrains
ThisstandardisissuedunderthefixeddesignationE2826/E2826M;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 mous behaviors that improve the effectiveness or efficiency of
the overall system are encouraged.
1.1 This test method is intended for remotely operated
ground robots operating in complex, unstructured, and often 1.3 Different user communities can set their own thresholds
hazardous environments. It specifies the apparatuses, of acceptable performance within this test method for various
procedures, and performance metrics necessary to measure the mission requirements.
capability of a robot to traverse complex terrains in the form of
1.4 Performing Location—This test method may be per-
continuous pitch/roll ramps. This test method is one of several
formed anywhere the specified apparatuses and environmental
related mobility tests that can be used to evaluate overall
conditions can be implemented.
system capabilities.
1.5 Units—The International System of Units (SI Units) and
1.2 Theroboticsystemincludesaremoteoperatorincontrol
U.S.CustomaryUnits(ImperialUnits)areusedthroughoutthis
of all functionality, so an onboard camera and remote operator
document. They are not mathematical conversions. Rather,
display are typically required. Assistive features or autono-
they are approximate equivalents in each system of units to
enable use of readily available materials in different countries.
1
This avoids excessive purchasing and fabrication costs. The
This test method is under the jurisdiction of ASTM Committee E54 on
Homeland Security Applications and is the direct responsibility of Subcommittee
differences between the stated dimensions in each system of
E54.09 on Response Robots.
units are insignificant for the purposes of comparing test
Current edition approved March 1, 2020. Published April 2020. Originally
methodresults,soeachsystemofunitsisseparatelyconsidered
approved in 2011. Last previous edition approved in 2011 as E2826/E2826M – 11.
DOI: 10.1520/E2826_E2826M-20. standard within this test method.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1
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E2826/E2826M − 20
FIG. 1 Overview of the Continuous Pitch/Roll Ramp Terrain Apparatus
1.6 This standard does not purport to address all of the event, test form, test sponsor, test suite, testing target or target,
safety concerns, if any, associated with its use. It is the testing task or task, and trial or test trial.
responsibility of the us
...
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: E2826 − 11 E2826/E2826M − 20
Standard Test Method for
Evaluating Emergency Evaluating Response Robot
Capabilities: Mobility: Confined Area Terrains: Mobility
1
Using Continuous Pitch/Roll RampsRamp Terrains
This standard is issued under the fixed designation E2826;E2826/E2826M; 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 traverse complex terrains in the form of continuous pitch/roll ramps. 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 complex terrain composed of continuous pitch/roll ramps in
confined areas.
1.1.2 Robots shall possess a certain set of mobility capabilities, including negotiating complex terrains, to suit critical
operations such as emergency responses. A part of the complexity is that the environments often pose constraints to robotic
mobility to various degrees. This test method specifies apparatuses to standardize a confined areas terrain that is composed of
continuous pitch/roll ramps and that notionally represents types of terrains containing undulating slopes, existent in emergency
response and other environments. This test method also specifies procedures and metrics to standardize testing using the apparatus.
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.
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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 July 1, 2011March 1, 2020. Published December 2011April 2020. Originally approved in 2011. Last previous edition approved in 2011 as
E2826/E2826M – 11. DOI: 10.1520/E2826-11.10.1520/E2826_E2826M-20.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
1
---------------------- Page: 1 ----------------------
E2826/E2826M − 20
FIG. 1 Mobility: Confined
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