(1999-) The demand for mobile robots that can perform search and rescue operations in disaster locations or detection of landmines (fig. 1) is increasing. A robot for such applications must have the following characteristics: high mobility over unstructured terrain, use of Hyper-Tether and other tools / manipulators to accomplish its tasks, sufficient energy supply to the tools for their operation, long time continuous operation and low cost, among others. A commercially available off-road buggy that displays the above characteristics could be used as a “base machine”. With its acceleration and braking controlled by computer, it becomes possible to implement autonomous motion on rough terrain.

In addition, it is desired that the buggy generate and transmit electrical energy to other machines using its engine/alternator. To fulfill those goals, the “Gryphon” Family has been developed. It is composed of modified buggies equipped with combustion engine, encoders to measure the tires’ rotation, attitude and proximity sensors and steering, acceleration, brakes and gear change mechanisms, which enable the vehicle’s autonomous operation. One of the main features of these robots is the relative low cost, which make it feasible to assemble and develop several units in field.

Gryphon-I (fig. 2) is a completely automatic vehicle, controlled by radio, equipped with a 6.1kW gasoline engine and an auxiliary alternator of 500W. Its small dimensions and weight make it an ideal platform for operations on uneven terrain and narrow spaces, such as dirt roads, irrigation channels, and even among debris of buildings. One of the applications under development is humanitarian demining, which can be performed with the help of the Field Arm.

Gryphon-II (fig. 3) is based on the same mechanical platform of Gryphon-I, with the difference that it can also be driven by a pilot. For this, a special Hybrid Actuation System has been developed, in order to allow both automatic control mode and manual control mode of the functions of the buggy in a natural way, with the minimum changes necessary when switching between modes. Gryphon-II is also equipped with an auxiliary alternator of 500W.

Gryphon-III (fig. 4) is a modified version of a larger and heavier off-road buggy. Prepared for operations which require extra power and traction, it can carry a heavier payload, including GPS, sensors, and also the Field Arm (for humanitarian demining). When carrying a special winch mechanism, Gryphon-III can be connected to a smaller vehicle, functioning as an “anchor” as the smaller vehicle is lowered on steep slopes (fig. 5). The applications of such a system can vary from terrain recon to forestry / construction works, including also humanitarian demining.

1. E. F. Fukushima, P. Debenest and S. Hirose, “An Efficient Energy Generation and Distribution Scheme for Hyper-Tether Field Applications”, in Proc. of the The fourth IFAC Symposium on Intelligent Autonomous Vehicles (IAV2001), Sapporo, Japan, Sep. 5-7, pp. 230−235, 2001.
2. E. F. Fukushima, P. Debenest and S. Hirose, “Research on Hyper-Tether　No. 11 Experiments on Autonomous Control of the Engine-Driven Mobile Platform”, 第19回日本ロボット学会学術講演会予稿集，pp. 1035−1036, 2001.
3. E. F. Fukushima, P. Debenest and S. Hirose, “Autonomous Control of an Engine-Driven Mobile Platform for Field Robotic Systems”, in Proc. of IROS’01, pp. 84-89, 2001.
4. P. Debenest, E. F. Fukushima and S. Hirose, “Development and Control of a Buggy Robot for Operations on Unstructured Terrain”, in Proc. of IROS’02, pp. 763-768, 2002.