land robots compendium - 2014/15

From throwablesto trucks

LandRobots

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03Compendium Ground Robotics 2014

Synergies between medium and lightrobots, here from iRobot, might appear

with smaller expendable systemsbeing deployed by bigger ones.

(Armada/Paolo Valpolini)

Ground Robots:from Throwables toMan-less Convoys

In the kingdomof drones, the smaller thedrone the most affected it is by windgusts. Ground robots suffer from asimilar scale syndrome, where physical

dimensions have an impact on mobility, atleast as far as the most classic mobilitysolutions are concerned, namelywheels andtracks sincewalkers and creepers are still fardown the development road.

Most affectedare themini-groundrobots.Their limitedweight also affects the range of

their datalinks, as well as their endurance,since theyusually arepoweredbybatteries.

It is always difficult to split systems intocategories; however it is safe to say that up tofive-kilos a first range can include what arecalled themini-ground robots (let’s keep themicro category aside for the future, should itever appear). This has sub-categories,namely the throwable robots up to threekilos, as theheavier ones aremoredroppablethan throwable.

Paolo Valpolini, inputs from Eric H. Biass

Amongst the three environmental elements that arerepresented by sea, sky and land, the latter is certainly themost difficult one for an uninhabited vehicle. While dronesand surface or submersible naval unmanned systemsmostly evolve in a consistent environment, ground robotshave to deal with all sorts of obstacles. Not only do thesecomplicate their displacement, but they also limit therange of their data links.

Another form ofco-operation between

ground robots anddrones is here

exemplified by HDTGlobal Protector

deploying a tethereddrone to provide early

warning to a convoy.(HDT Global)

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Next up range is themediumcategory – adifferentworld really,wherepayloadsweightsaremeasured in kilos rather than grams andprovide much greater flexibility. Here therobots themselvesweigh fromfive to30kilos.

Forpracticalpurposes, thisCompendiumonly deals with robots that can be tacticallyemployed on the battlefield by soldiers, asexplosive ordnance disposal robots areconsidered specialists’ systems developed todeal only with a very specific mission. Theaimof thisCompendiumis toexaminewhat isavailable to the standard soldier to increasehis safety and flexibilityon the field.

Obviouslymanymultirole ground robotscanbe equippedwith robotic arms, grippers,water cannon and so on, which effectivelyturns them intomobile bombs although thiswill be only one of theirmany roles.

Higher up, above the 100 kgmark, heavyrobots can have a say on the battlefield inmissions such as reconnaissance, resupply,casevac, etc. For example – one of manypotential applications – Supacats are used Inthe British Army to bring ammunitionsupplies to the front line, exemplifying asituation in which the driver, who is highlyexposed, could usefully be replaced by arobotic system.

Tiredness and loss of concentration wasidentifiedby theUSArmyas amain factor of

accidents in logistic convoys, with roadsidebombs only adding to that in terms ofcasualties. As a consequence a number ofcompanies in America and Europe aredeveloping systems that allow to quicklytransform a conventional vehicle into anunmanned one. This can be applied also toengineers’ equipment whereby, for example,a scraper canbe turned intoaman-lessmine-clearingasset.

The huge advantage of those systems isthat they can be acquired in relatively smallnumbers and installed on the field intostandard trucks or vehicles, and later shiftedto other vehicles for different missions orwhen the vehicle in which they are installedsuffers amajor failure.

Compared to drones, ground robotsdefinitely are a less mature breed. Not manyembody an evolved form of autonomy,something thatwould considerablydecreasetheoperators’workloadwhile increasing thebenefits of their use andmaking them a realforce multiplier. A lot of arguments arebrought against theirweaponisation (dronessuffer from the same problem) as theirreliability is still considered insufficient (how

muchmore reliable is thehumanbeingmightalso be questioned, especially in the light ofblue-on-green incidents in some theatres ofoperation), legal advisors taking their toll onquick deployment of such armed groundrobots. It ishowever clear that theoperationalera of ground robots has started, and thattheywill play an increasingly important roleon future battlefields.

As these lines are being read, however,another factor is wrecking havoc on groundrobots development: the financial crisis. Inmany countries, with America leading,numerous programmes have been slashed,affecting thedevelopment and acquisitionofsome of the systems covered by thisCompendium.This, coupled toother events,has started a down- spiralling effect withinthe ground robotic community. Severalwell-known companies currently are wrestlingwith the financial problems resulting fromorder cancellations.

InAmerica threeprogrammes still appearto be alive: the Advanced ExplosiveOrdnance Disposal Robotic System, thesquad-level Common Light AutonomousRoboticKit intendedasan intelligence sensor

04 Compendium Ground Robotics 2014

Mini-ground robots – here an iRobot FirstLook – will essentially remain remotely controlled as increasing their autonomywould be too expensive,at least for the time being. One of the efforts to bemade, however, is to improveman-machine interfaces to allow operators tomaintain theirtactical posture while guiding ground robots as illustrated by this Nexter Nerva controller. (Armada/Paolo Valpolini)

Modularity is here exemplified by Nexter’s Nerva robots, with interfaces for chemicaldetectors, infrared cameras, CS grenades, audio intercom, disruptor, as well as a voidmoduleto adapting other sensors. (Armada/Paolo Valpolini)

“The aim of thisCompendium is to examinewhat is available to thestandard soldier toincrease his safety andflexibility on the field.”


05Compendium Ground Robotics 2014

Often considered expendable, they canfit into one’s pouch or pocket andfeature small and light control

stations, some now even being controllableby smartphones. Alongside the lightthrowables are slightly heavier robots thatcan be easily dropped from a vehicle (whennot equipped with extra payloads), but thatcanhardly be launched through a first- floorwindow; they remain among the systems ofchoice for basic infantry units, as theydonotdramatically increase a soldier’s burden andcompensate this by providing him with anew, easy to operate, capability.

I THROWABLESReconRobotics: Formed in 2006 and basedin Edina, Minnesota, ReconRobotics hasbeen one of the fast-developing companiesin the ground robotics field, and is about toreach the mark of 4,000 systems in useworldwide with an even split betweenmilitary and law enforcement applications.American defence budget cuts strongly hitthe company in 2014, following the USArmy’s decision not to acquire over onethousand robots in 2013. This led to heavylayoffs in early 2014, although a companyofficial recently told Armada that the strong

carrier, and the Engineer Squad Robot. TheSquad Multi-Purpose Equipment Transport is another one of the programmes that should survive American defence budgetcuts and sequestrations.If they want to draw any attention from

the American Department of Defense, allrobotic systems (air, land and sea) will have tocomply with the Joint Architecture forUnmanned Systems (JAUS) and respect theInteroperability Profile (IOP). Head-oncontrol systems, reduced workload, semi-autonomous control, swarm capability seemto be the development trends.What does the future for ground robots

look like? How many of them will be aroundon the battlefield in 2020? Difficult to say.What is obvious is that the technologicalevolutions allied to the absolute need toreduce casualties among western contingentsdeployed downrange will inevitably spark offthe necessity to thrust the man-less systemcapability forward in the ground operationalcommunity. Very few at the beginning of thecentury were convinced of usefulness ofdrones, yet they now make the headlineseveryday – and many are now proposed forcommercial applications. Will the samehappen to ground robots? The answer isprobably yes, if we consider that according tothe “US Program Manager Robotic SystemsJoint Program Office”, ground robots allowedto save the life of over 800 soldiers in Iraq andAfghanistan combat missions.

French Army looks at ground robotsWith the Phase 1 of the Scorpionprogramme confirmed by the FrenchMinister of Defence in June 2014, the Arméede Terre is now looking into Phase 2, ofwhich robotics is part and parcel. Robotswithin a tactical task force should be used indismounted combat, with micro-groundrobots (and their flying counterparts) tobecome the soldier’s advanced eyes. Otherrobots of similar dimensions might fit intothe equation delivering effects on the groundagainst the enemy, but also to the profit ofthe task force, improving communicationsby deploying radio relays for example.

The more sophisticated micro-robotsmight be tasked with reconnaissance forhigher echelons taking part in mountedcombat. Tactical multirole robots are being considered for reconnaissance bycontact, resupply missions and as effectors while heavier robots might be usedmostly for route clearance and engineermissions. The use of systems capable totransform standard vehicles into robots isalso envisaged.

The Minis: the InfantrySquads’ New ToolsPending the advent of the nano-ground robots, short-range intelligence, surveillance and reconnaissancemissions are mostly covered by light ground robotscapable to move in restricted areas, with data linksproviding a limited operational range. Many of thesebelong to what we can define as the “throwable”category, as they can be launched to a certain distanceand height by the operator, inside a building for example,without needing to be driven there.

The junior member of the iRobot family is the 110 FirstLook, here employed to assess the presence of an IED. (iRobot)


international and law enforcement marketwill help compensate the loss of Americanmilitary orders. Currently 90% of thecompany sales is based on two models, theThrowbotXTand theReconscoutXL.

At only 540 grams – the average handgrenadeweighsbetween400and500grams–theThrowbotXT is the lighter systemof thefamily andwas introduced inmid-2012.Thecomparison with a grenade goes evenfurther as to activate the robot the operatormust pull the activation pin from the robotto power it on. Its lightweight and its tubularstructure, which provides a good handgrip,allow to throw it at distance, the companymentioning a 36-metremaximumdistance,dictated by the robot impact resistancewhich also allows todrop it fromninemetresheight. The tubular structure hosts twobrushless electric motors that ensure thepropulsion of the two side wheels, while therear tail ensures balance and orientation.Each wheel has eight flappy paddles thatensure maximum mobility over obstacles,the overall diameter being 114 mm. Thetubular body also hosts the battery, thatprovides a one hour endurance on flatterrain, aswell as sensors.

The main sensor is a low-light sensitivityblack-and-white camera operating at 30frames per second, equipped with an opticproviding a 60° field of view;when light goesunder the established threshold the infraredilluminationsource isautomaticallyactivated,ensuring view to over 7.5 metres. A high-sensitivity omni-directional microphoneallows the operator to listen to noises orconversations. The acoustic signature of theThrowbot XT is very low, ReconRoboticsdeclaringanoiseof22dBata six-metre range,which is that of human breathing at 0.2metres; to deploy the robot silently in a lowerposition a small hook is available at the tail

extremity to clip a cord, while for deliveringit inahighpositionReconRoboticsdevelopedthe SearchStick. This is a 1.83-metre longtelescopic aluminium pole with a button-activated clamp (only 0.52 metres long instowedposition); it canalsobeused torecoverthe robot at the endof themission,or touse itas apole-camera.TheThrowbotXTdatalinkcanbe seton threedifferent frequencies, thusallowing a single operator to control threerobots. Speed is limited to 1.6 km/h,which isfully sufficient fora systemdesignedtomostlyoperate inbuildingsorurban terrain. In thoseconditions the range is of 30 metres, whichtrebles inoutdoor conditions.

The ReconScout IR is a direct evolutionof the previous robot, fitted with a black-and-white infrared CCD sensor with a 60°field of view, and an IR lighting systemefficient at over sevenmetres.

The ReconScout XL, for its part, has amaximum speed of 2.16 km/h, which ishigher than theThrowbot, but its resistance islesser as it can withstand a drop shock from4.6metres anda throwshockof9.1metres. Itswheels have six spikes and a diameter of 140mm, this robot being slightlynoisier than thesmaller one, operating at 32dBat sixmetres.Sensors anddata link remain similar.

ReconRobotic systems are controlled viathe Operator Control Unit II (OCU II) thatallows the operator to see the imagescaptured by the robot sensor on a 3.5-inchdisplay, sound being listened via aheadphone. The OCU II weighs 730 gramsand is equipped with a thumb-controlledjoystick that allows to easily control therobot’smovement. Two antennas have to beraised before operating the OCU II, sixfrequencies being available, the systemheightwith antennas upbeing 510mm.

While historically ReconRobotics’ mainmarket has been represented by the UnitedStates with thousands of systems sold, itsrobots are also in use in several othercountries; in Europe its throwables operatein Denmark, France, Italy, Norway,Switzerland andBritain,while in other areasthey are used inAustralia aswell as by Egyptand Jordan in the Middle East. In 2013ReconRoboticswas acceptedbyPEOSoldier- Sensors and Lasers group in the SoldierEnhancement Program as a Squad-LevelSensorKit.Theevaluationprocess isdue tobecompleted by 2015. As for technicaldevelopments, ReconRobotics is currentlyworking on a digital version of its ThrowbotXT; this will allow to add flexibility to theradio link side, somethingwhich isbecomingamust on the internationalmarket.Nexter: In 2012 Nexter of France revealed itsinterest in ground mini-robots by airing theprototype of its Nerva – a 4x4 throwable witha weight of four kilos. Following a furtherdevelopment and industrialisation processthe original Nerva became the Nerva LG, thefirst of breed of light robots launched by thenewly formed Nexter Robotics division.When not equipped with top-mountedpayloads the Nerva LG is fully reversible – inother words it is ready to operate as soon as itis – literally – thrown into action. A rear-mounted handle eases carrying andthrowing. It can be dropped from a height of

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The Throwbot XT is oneof ReconRobotics twobest-sellers with thebigger Reconscout XL.(ReconRobotics)

Vivid illustration of what a Throwbot XT canbe used for: smash through a window on a first floor and see what’s happening up there. (ReconRobotics)

Compendium Ground Robotics 2014


three metres or thrown out to seven. TheNerva LG has two speed ranges: one fromzero to four km/h, and the other from zeroto 15 km/h; the former is the standardmodeandallowsprecisiondriving andorientation,and when greater speed is required theoperator pushes on a button on the joysticktip which shifts in the high speed cog.

Standard wheels have a 150 mm diameterthough special sand wheels can be installedwith wider treads and transverse grips, butif push comes to shove a track kit is alsoavailable. As a courtesy to special forces anamphibious kit was developed addingbuoyancy elements andpaddlewheels.

Fully modular, it is based on the “one-click” concept to allowquick replacement ofwheels and battery. The Nerva LG isequippedwith standard sensors that providea 360° view by virtue of four cameras (thefront high-resolution unit equipped with alighting system)while audio feedback to theoperator is done by an omnidirectionalmicrophone. Picatinny rails or configurableplates ensure mechanical interface withpayloads. Power comes in at 24V over 1A,while data are forwarded via Ethernet.

Nexter, however, has developed a Nervainterface to extend the one-click concept topayloads. Thus recce packages such asthermal camerasordirectionalmicrophonesare available, as well as chemical detectors ormechanicaldevices topushordragsuspiciouspackages (anexplosivesdisposal tool isunderdevelopment). Its 2.4GHz band link ensuresan operating range of one kilometre in open

terrain and 300 metres in urban areas. Withanenduranceof twohours, theNervaLGcanbe controlled with different systems fromruggedised PCs to tablets and smartphones,in the latter case a 100 mWwi-fi link with amuch shorter operating range replaces thestandard one. Usually used as a remotelycontrolled system, theNervaLGcanhowever

For its Nerva robots Nexter designed quickreplaceablemodules that allowimmediate retasking of the system.(Armada/Paolo Valpolini)

All Nexter Nerva robots have been designed toallow quick wheel replacement, in order toadapt the robot to the surface on which it willoperate. (Armada/Paolo Valpolini)


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also be fitted with semi-autonomouscapabilities such as waypoint planning,automatic home return or follow-mefunctions.Numerouscustomershaveordereda few units each for operational testing.Nexter is expecting more substantial orders,following requirements for new payloadsbeing filed fromcurrent customers.The production model of the Nerva LG

was shown atMilipol 2013, together with itssmaller brother, the Nerva S. This is a two-wheel robotweighing only twokilos that canbeusedboth indoors andoutdoors, poweredby a 2,700 mAh at 21.6 V Li-ion batteryyielding an endurance of four hours.Poweringup is effectedby extending the reartail,which in transport configuration is foldedagainst therobotbody tosave space.The tail isused not only to stabilise the robot inoperation, but also to throw it at longdistances even from a moving vehicle asindeed theNervaShasbeen trulydesignedasa throwable, itsweight andhardness allowingit tobreak throughawindow.Aswith theLG,wheel replacement is a one-click job. Toimprove its mobility a wheeled strut can beadded to each side to install tracks with thefront wheels acting as the driving sprockets.This effectively turns the robot into theNervaDS. TheNerva S has the same speed range asthe LG and uses the same data link. It isequippedwithahigh-definitioncameraandamicrophone, and visible and front-mountedinfrareddiode lightingroundupthe standardsensor description. The Nerva S can also bedeployedwithadditionalpayloads that canbemechanically fixed on Picatinny rails. TheNervaS is inproduction.

Novatiq: This Swiss company produces onethrowable type, the PocketBot, powered bythree motors all contained within the vehicle’sbody, with one of them activating the thirdrear wheel through a belt transmission.Tipping the scales at only 850 grams, thePocketBot can withstand a drop shock ofeight metres and a throw shock of 30 metres,and according to the company the three-wheel configuration allows it to considerablyreduce its kinetic energy on impact comparedto a four-wheel configuration. Once landed,and as soon as it moves the PocketBotrecovers its normal stance, as it is not a fullysymmetrical system. The two main wheels areequipped with T-spikes that ensure a smoothride over smooth ground while providingoptimal grip on sand, rubble and vegetation.The third rear wheel is smooth as tests showedthat T-spikes caused an excessive grip thatconsiderably slowed it in turns.According to the company the 14 mm

ground clearance PocketBot can deal with 30mm vertical obstacles and climb 40° slopes.Up front the body a compartment houses ahigh-definition colour camera that can tilt±90°. At low light levels the camera, which isequipped with a x8 digital zoom, switchesautomatically to monochrome low-lightmode. An automatic infrared light is also

available; however the operator can switch itto manual mode to use its white light. It alsocarries a waterproof microphone as well as asmall waterproof loudspeaker allowing theoperator to address people close to thePocketBot, hostages for example. Fixingpoints are available on top of the PocketBotfor the installation of extra payloads such as athermal camera or chemical sensors.Payloads must be factory installed though, inwhich case the PocketBot’s throwable ability issacrificed. The vehicle is activated through a

The Nerva S is the lighter member of theNexter robot family; the rear extendablehandle used to throw the robot doubles asmain switch. (Armada/Paolo Valpolini)

Novatiq PocketBotis a three-wheel

robot that ismarketed both forlaw enforcementand military use.

(Novatiq)

The PocketBot’s two main wheels have beenpurposely designed to ensure maximum grip overdifferent surfaces. (Armada/Paolo Valpolini)



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top-mounted switchbut it cannot beusedbythird party to disable it as this can only bedone through the control unit.

In terms of control units, Novatiqdeveloped theCrab-3. This 0.7 kg, 200 x 110x 450 mm unit sports a 3.5-inch colourtouch-screen and is powered by a one-clickswappable replaceable battery – the sametype used by the robot to reduce the logistic

footprint, giving anoperating timeof four tofive hours.Adigital video-recording systemsaves the images on an SD card for furtheranalysis. The PocketBot kit consists of onerobot and one control unit, two chargers,four batteries, oneheadset, some spares suchaswheels, antennae, caps, etc. ThePocketBotis now a frozen base platform that isproposed to customers with a standard datalink that ensures a 250-metre operationalrange in open terrain and 70metres in non-line of sight situations. Novatiq is ready toreplace the data link according to customer’swill – a Coded Orthogonal FrequencyDivisionMultiplexing (COFDM) system forexample. Novatiq has already chalked up anumber of orders in Europe and is about todeliver to an undisclosed Middle Easterncountry, for special forces use.

The second ground robot in the Novatiqcatalogue is quite heavier and tracked.Known as the StoneMarten it was designedtodeploy sensors inhigh-risk areasonawiderangeof terrain, hence the tracks tominimisedimensions and weight while maximisingperformances. Already sold to undisclosedEuropean and African customers, it weighs4.5kilos,whichputs it at theveryhigher limitof the throwables with an allowable dropshock of three meters and a throw shock offive. With two electric motors it can reach a

maximumspeedof sevenkm/h, and flippersgive it a stair climbing capacity. This modelfeatures a front tiltinghigh-definition colourcamera, panning being effected by slowlyshifting the robot in azimuth. Three morefixed colour cameras are available at the rearand on sides, all flanked by white andinfrared diode lighting, while amicrophoneand a loudspeaker complete the standardsuite. Picatinny rails provide grip for extrapayloads, four plug-in ports being availablefor power, data and video signals. The robothas somedegreeof autonomy, such as returnto last point of good communications orreturn to operator. Like the PocketBot, theStoneMarten is now a frozen platform, thecompany maintaining some flexibility bycomplyingwith customers’ needs.

Anewseriesofvehicles isbeingdevelopedby Novatiq – all named Nova with a suffix.Data provided herewith and in the table areprovisional as these products are really atprototypestage.Thesmallestof thenewbreed,which is definitely part of the throwablecategory, is the NovaCTR, for Close TargetReconnaissance. Even lighter than thePocketBot, it is trackedandcanbeconsideredacomplement to the three-wheeler.This600-gram unit has the same impact resistance astheThrowbot. In termsof sensors, it featuresafixed colour front camera with infrared orwhitediode lightsaswell asamicrophoneanda loudspeaker.Declaredrange is100metres inline of sight and 30 metres otherwise. TheNovaCTRisa frozendesignandhas justbeenadded to the Novatiq portfolio, the companybeing currently in discussion with somepotential customers.

Slightly heavier but still fully part of thethrowables come a couple of robots, theNovaMRR(MediumRangeReconnaissance)and the Nova SRR(Short RangeReconnaissance), respectively a wheeled 4x4andatrackedchassiswith flippers.Howeverasoption the two chassis can becomerespectively tracked and wheeled. TheNovaMRR has a higher maximum speedcompared to its tracked counterpart – 10km/h versus 4.7 km/h – the latter being ableto climb up stairs. As for throwingparameters, thewheeledchassis can sustainadropshockof fourmetresandathrowshockofsix, with values dropping to three and fivemetres for the tracked brethren. TheMRR isfitted with a front high-definition colourcamera with virtual pan-tilt zoom, and withthree fixedcolour camerasmounted laterallyandon the rear toprovide360° coverage.TheSRR also has a front camera but fitted with a

Designed to cope with difficult terrain, hencethe tracked solution, the StoneMarten can beequipped with additional payloads installedon the Picatinny rails seen here. (Novatiq)

The NovaSSR is oneof the latest productsfrom Novatiq ofSwitzerland, butanother two newrobots are at finaldesign stage.(Armada/PaoloValpolini)



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motorised tilt system, and while both robotsare equipped with microphone and speakerfor two-way communications with theiroperators, the tracked robot adds white andinfrared diodes lighting all four sides. Bothrobotscancarrya2.5kgpayload installedonaPicatinny rail, a secondary mechanicaladaptation with plate being also possible,while power and data are provided throughFischer connector accessoryports.Optimess: A new entry in this field is theiSnoop developed by Optimess of Germany.It is available with different sets of wheels toensure optimum mobility depending onterrain (including stairs) and requiredspeeds. Its wireless communication systemensures a 50-metre indoor range and 200metres outdoors.

A high-resolution camera with panfunction provides video footage while amicrophone ensures acoustic intelligence.Besides the standard camera other payloadscan be installed such as gas sensors. The two-hour endurance iSnoop is in the latestdevelopment phase and should be availableduring 2013.Robo-team: A couple of years ago Robo-team of Israel unveiled a light throwablerobot known as Iris, a sweet acronym forIndividual Reconnaissance and IntelligenceSystem. It weighed one kilo with its two AAbatteries that ensured four to six hours ofoperation, and could be launched with aDavid’s sling system. Since then the Iris hasevolved into a pre-production product.

Highly ruggedised, it was built in compositematerials and designed following a “safebox” concept, which allowed it to withstandshocks generated when falling from 10metres or landing after a 65-metre side dropflight, which probably made it the “longestrange” throwable robot. It was equipped witha front day/night camera with a ±90° tiltmechanism, a near-infrared and visible laserpointer and a microphone and a secure 200-metre range data link. Thanks to itssymmetric design it could fall on both sides

and be ready to operate. Its dimensions of175 x 205 x 95 mm allowed a soldier to carrythe Iris in his side pocket. The robot adopteda peculiar architecture, as the front axle wasmuch wider than the rear one. Wheels weremade of composite Nylon and had six spikeseach to increase grip over rough terrain.

A second development step maintainedmost of the above features, includingarchitecture. The David’s sling concept washowever abandoned though the Irismaintained its throwability. Dimensionschanged to 229x203 x94 mm, weight grew to1.3 kilos, but added a one-kilo payloadcapacity. The wheels were also was modified. Anumber of Iris in this configuration weredelivered to customers that used them both fortesting and operations, providing Robo-teamwith invaluable data to develop theindustrialised version that was first delivered inJune 2014. The asymmetrical architecture ofthe proof-of-concept was abandoned in favourof a more conventional rectangular shape. APicatinny rail on the upper side acceptspayloads that can be linked via an RS232, avideo/audio or an Ethernet port, in which casethrowing is no longer an option. Fitted withentirely new wheels, the Iris maintains theability to climb stairs, and according to

Optimess of Germany has developed the two-wheel iSnoop, which can be equippedwith different types of tyres, amongst which one designed for stair climbing.(Armada/Paolo Valpolini)

The latest version of Robo-team Iris is fully symmetrical and is fitted with a Picatinny railallowing to carry a one-kilo payload. (Robo-team)



Robo-team its performances are increasedcompared to the firstmodels. It canovercomea64mmobstacleandclimba45° slope (100%in vehicle parlance), and has a maximumspeed of 4.8 km/h. The data link systemhas aself-healingmesh capability that extends therobot’s range, especially in urban areas. TheIris is controlled by a Rocu-5, a unit that also

hasevolvedalongside therobot tooffera five-inch sunlight-readable, NVG-compatible,resistive touch screen, instead of the earlier4.3” touch screen. The one-thumb stickremains while the number of push-buttonshasbeen increased tosix, threeoneachsideofthescreen.Memory is considerably increasedwith internalGPS, accelerometers anddigitalcompass thrown in, aswell as a front and rear5MB camera. But what is more important isthat theweight has been reduced from700 to540 grams for an operating time of betweenthreeandsixhours.Mistral Security: In September 2013 theMistral Group acquired Israeli ODFOptronics, and de facto entered the groundrobot producers’ community. Developed tocomplement the first throwable sensordesigned by ODF, the EyeDrive is a 4x4 thatcan quickly be transformed into a trackeddevice by the addition of rubber tracks ontothe existing wheels, causing a slight increasein dimensions to 350 x 320 x 165 mm. The EyeDrive weighs 3.76 kg, is fitted

with one 0.08 lux black & white or 0.19 luxcolour camera per side. An additionalcamera with a laser pointer can be installed atthe front right of the robot. This can be

oriented ±48° left or right, the view on theright being slightly reduced when tracks areinstalled. A microphone capable to pick upsounds at five metres is also part of thesensors suite. A one kilo communicationunit, which can be connected via USB to atoughbook, ensures the link with theEyeDrive. The declared operational range is400 metres in open space and 70 insidebuildings, robots control signals beingforwarded on a 915 MHz link while videosignals are sent on 2.4 GHz. Lithium-ion

Robo-team Iris robots are equipped with adatalink that allows to establish a self-healingmesh, extending the range of those systemswhen used in urban scenarios. (Robo-team)

Following the acquisition of ODF Optronicsby the Mistral Group, the latter is nowpromoting the EyeDrive. (Mistral Group)


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batteries provide an average endurance oftwo hours (time varies with sensors used,maximumpayloadweight being 3.5 kg). Asusual Israeli companies do not announceexport customers, but it is sure that theEyeDrive is in service with the IsraeliDefence Forces.Robosynthesis:Categorising ground robots isno easy task; with Robosynthesis thisbecomes even tougher as this Britishcompany has developed a fully modularsystem that allows one to reconfigure thesize, configuration and role of its robots.Plug-and-play is the key word in theRobosynthesis system. Modules known asRobocubes are the key elements of thesystem, as not only do they have a specificrole, they also have a processing capability,and thanks to a patented twist-lock universalsocket manufactured in non-metallicmaterials, they ensure both the mechanicaland the power and high data-rateconnectivity. Mobility modules, sensormodules, power modules, CPU modules,lidar modules, communication modules,tool modules, are put together in a “Lego

style” through the Universal Socket, thesame system being used to install third partypayloads. Currently the Universal Socket isbeing upgraded to an IP rating equivalent tosubmersion to 100 metres; this will enableRobosynthesis robots to operate inpotentially explosive atmospheres. A design review to allow for

implementation of modifications is underwayto make the socket intrinsically safe andATEX-certifiable. As for mobility, a numberof different wheels have been developed toadapt the robot to any given terrain type.Robosynthesis drew inspiration from livingcreatures to optimise mobility: the “scram”hemispherical wheels for culvert inspectionstaking lessons from arthropods to use paddle-like gaits to avoid getting snagged on rocks orvegetation, while “claws” tyres imitate the legaction of insects and are being used for all-round all-terrain performance. Slave tracks,not usually in contact with the terrain, turnbottoming-out on obstacles into an advantage.Using high-tech materials and

technologies taken from Formula 1, such asmetallised polymers, Robosynthesis robots aremuch lighter than those built with standardmaterials, which allows them to carry morepayload or to have a much improvedendurance with the same battery package.Among the smaller robots proposed by

Robosynthesis is the Armourdillo, a man-portable, throwable, tactical intelligence-gathering device that can be assembled inminutes without tools around the Robocubemotor module. The robot provides 360° visionand its communications system has a meshcapacity to increase range and flexibility whenusing several Armourdillos. A rugged system,it can be launched using the removable reartail; this is also used to increase stability andobstacle-climbing performance, “slave tracks”being also available for the latter role, and“claws” tyres for all-terrain capability. FourUniversal Sockets, protected by removablecovers, two on the upper side, one front andone rear, are available to add payloads up totwo kilos, throwability being sacrificed whenpayloads are used.Another Robosynthesis product that can

fit into the “light” category is the Roboforce 1,a 2.9-kilo 4x4 with two connectors on top toallow two different payloads to be carried (amaximum of 2.5 kilos). One socket can beused to install a second power module todouble endurance from 1.5 to three hours.An IP 67 item, it is submersible to one metreand is fitted with a Super OFDM data linkthat provides maximum throughput and an

operating range of 1000 metres in open spaceand approximately 100 metres in urban non-line of sight environment. The Roboforce 1 isequipped with a front camera and has twospeed ranges, 4.8 or 10 km/h. A range ofdaylight cameras or thermal imagers can beinstalled, as well as other types of sensors.Armourdillo and Roboforce 1, both

currently under development, are only twoof the many ground robots that can be“assembled” using the Robosynthesistechnology, an amphibious platform beingamong the designs currently underdevelopment.Piap:This Polish company has developed theTaktyczny Robot Miotany (TRM), or tacticalthrowable robot. It has a cylindrical bodythat houses the electric motors and theelectronics (including camera, diode lightsand microphone). A rear stabilisation tailwith a weight at its end ensures propermovement. Weighing 1.4 kilos, it can bethrown at 15-20 metres and can fall fromnine. The TRM is 210 mm long, 167 mmwide and 190 mm high, it can reach a speed ofover three km/h and has a one-houroperation time. Its control station allows tooperate up to three robots, the transport casebeing designed to host three TRMs and onecontrol station. According to informationrecently received by the author, Piap isfurther developing its TRM and a newversion will soon be available. MacroUSA: Not only land soldiers needrobots; every year US Navy and Marine Corpspersonnel conduct thousands of MaritimeInterdiction Operations (MIO) with theirVisit, Board, Search, and Seizure (VBSS)teams performing search operations thatoften take place in hostile environments. Thusin 2011, the Space and Naval Warfare Systems

The addition of a handle allows an easierthrow of the EyeDrive, or in this case itstransport by a “K9” asset. (Mistral Group)

In Britain Robosynthesis developed a fully modular concept. Seen here aredrawings of the Armourdillo and of a

Robocube element, on which most of thecompany robots are based. (Robosynthesis)

Developed from the Beetle, the MacroUSAStingray is purposely designed to answerSpawar requirements for a robot to be used inmaritime interdiction operations. (MacroUSA)



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THE TRUSTED SOURCE FOR DEFENCE TECHNOLOGY INFORMATION SINCE 1976

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14

CenterPacific conducteduser evaluationsona number of small throwable robots andsensors to verify the requirements anddevelop the key performance parameters foranMIO robot.MacroUSAwas then issued acontract for the design and development oftwoprototype systems, eachconsistingofonecontrol/display unit and two smallamphibious Stingray robots. The Centrerequired a robot that fits in a Molle pouchwithan indicativeweightof around1.5kg. Intermsofmobility ithad tobeable toovercomenormal deck obstacles such as ropes, cables,and anchor chains with height of between37.5 and 50 mm, and not get stuck on shipdeck grating. Ship decks being oftencontaminated by oil and dirt, the robotneededenough traction to remain inplace inthose situations andbe stableup to sea state 5ondhows, the traditional sailingvesselsusedintheRedSeaandIndianOcean.Therobothadto survive a minimum five-metre drop ontoa steel deck and be waterproof to one metre,while being floatable and able to move onwater, the help of attachable flotation devicebeingadmitted.

Electro-optical sensors with day/nightcapability andanaudio system,possibly two-way,were also required.A remotely activatedstrobe distracter capable to attract theopponents’ attention or to blind them in thedark was on the list, and so were anattachment for a telescopic extension and arope, and a single control unit to operate tworobots – one steered by the operator, thesecond performing motion detection toprovide rear-guard functions for the team.

MacroUSA happened to have the Beetle

in its inventory,whichwas suitable in termsofdimensions and weight but did not meetmany of the other requirements. One ofthose was ruggedness, the Beetle’saluminium components not being strongenough. Cost and machining issues playedagainst the use of titanium, but in favour ofwoven carbon-fibre monolithic chassiscoupled to aircraft-grade aluminium sidesand hardware, woven carbon-fibre wheelsand internal brackets, and closed-cell foamfor flotation purposes, which allowed tocontain weight within 1.8 kg. With heightbeing set by theobstacle crossing capacity (toovercome a 50 mm rope a wheel of nearlydouble the size is needed) and width beingdictated by the battery pack, designersworked on sealed chassis length to providethe required flotation. The Stingraydimensions were thus 253.9 x 205.5 x 95.5mm, meaning a volume very close to the4,500 cm3 threshold established by thecustomer. This was a key feature as activebuoyancy systems were soon discarded,MacroUSAproposing a high-visibility SlingFlotation Device to be wrapped around theStingray when in-water operations wereexpected, the system allowing to maintainthe robot’s ground clearance.

Mobility in water and traction on wet oroilymetal surfaces led toacompromise in thewheel configuration, a design with micro-knobby and ducted-paddle propulsion areasbeing the final solution. A transition beltbetween the two axles helps to overcomeobstacles.TheStingray is equippedwitha50°field-of-view day-night camera that can betilted±85°;videoandcontrolareautomatically

inverted when the robot flips over. Infraredandwhitediode lightsare incorporated in thefront part of the Stingray. The Picatinny railcan host an extra-payload (max 700 grams)that connects to the robot via an RS232 port.That payload of course negates throwing therobot.Thebatteryprovidesover twohoursofoperationand twodata links are installed: thecoded orthogonal frequency divisionmultiplexingensuresvideolinkwhilecontrol isprovided by the frequency-hopping spreadspectrum link. Range is 200metres in line ofsight and 150 metres otherwise. As saidinitially, the Stingray is an evolution of theBeetle, which remains in the MacroUSAinventory for customers that do not requirenavalperformances.

Given the increasing antipiracy activitycarried out by the military, the company iscurrently awaiting Space andNavalWarfareSystems Command (or Spawar, now acommand) to issue the actual contract (therequest for quotes covering 200 systems hasalready been issued).

In thehigh tierof the light robots categoryMacroUSA developed the Armadillo, whichhas been offered in various versions. With aweight of 3.13 kg and3.70 kg respectively theArmadillo V3.5 and V4.0 remain within thethrowable category as both are able towithstandmultipledrops fromaheightof 2.5metresorhorizontal launches toeightmetres.They can be operated immediately afterlaunch as they are completely symmetrical,provided no extra payload is added. BothversionsareequippedwithPicatinnyrails andRS-232/485 ports to install and connectsensors or effectors such as disruptors,manipulators or uncooled rotating thermalcameras, to a maximum of three kilos. Bothversionshavean integrated360° fieldafforded

Developed in different variants,MacroUSA Armadillo can be dropped from2.5metres, and has been used as the coreelement by othermanufacturers to developtheir own robots. (MacroUSA)

The latest versions of the 1.8-kilo dry weight Beetle could survive a three-metre drop onconcrete and can carry a 700 gram payload. (MacroUSA)



15

by day/night colour cameras with x2 digitalzoomonall sides (the frontonecanbetiltedontheV4.0. Other differences are minor, theV3.5having two front cameras and front andrear infrared diode lights, while theV4.0 hasone front camera and infrared and visiblediode lightsonall four sides).Both robots areequipped with an audio microphone andoptional GPS, as well as a digitalaccelerometer. MacroUSA uses a COFDMdata link working on 1.2-1.4 or 2.2-2.4 GHzfrequency bands (many other bands areavailable as custom options for militarycustomers) and 50 channels, offering anoperational rangeof300metres in lineof sightand200metresotherwise.Equippedwith130mmdiameter rubberwheels, theArmadilloscan climb a 45° slope. They can be equippedwith a stair-climbing kit that includes fixedflipperswith rubber tracks inplaceofwheels.A furtherversionknownas theV4.5hasbeendeveloped toofferahigher speedandpayloadcapacity. It features a higher number ofpayloadconnectors andhasbeen specificallydesigned for ordnance disposal. It self rightsand is capableof climbing stairs.With many American programmes

cancelled, MacroUSA is looking both at theexportmarket andnon-militaryapplications.Some acquisition programmes in Europe,France and Poland, as well as in the Far Eastare attracting the company’s interest.TheArmadilloV3.5was the startingpoint

forOtoMelara’s TRP3 robot. The base robotwas thoroughly redeveloped in Italy,with theoriginal motors replaced with brushlessmotors for example. Improvementswerealsomade to the data link, while the portablecontrol unit was redesigned to Italian Army

needs. The fixed control station integratedinto the Freccia 8x8 vehicle, on the otherhand, was designed from scratch by OtoMelara. Based on a ruggedised laptop with a13-inch screen coupled to a communicationbox containing the data link, it was alsodesigned to control other ground robotsdevelopedby thecompanyaspartof theForzaNEC Italian Army digitisation programme.Whenusedvia theportable control, theTRP-3 NEC (as it is known) accesses the ForzaNEC network via the soldier’s software-defined personal radio. When controlledfrom the vehicle on the other hand, it willexploit the on-board software-defined radio.According to Oto Melara the operationalrange is 450 metres in line of sight and 200metres in urban terrain. The robot hasobtained its ItalianMoDqualificationandthefirst batch of six is being delivered to theArmy. The TRP-3 NEC will become theadvanced eye of the medium infantryregiments equipped with the IFV version ofthe Freccia. Slightly lighter than the originalV3.5, its dimensions are pretty similar. Itsmaximum speed is 1.8 km/h and carries sixcameras – one day colour and one nightcameraon the front,daycameras the rearandsides,while a sixth is locatedon the topof therobot to it to perform inspections undersuspect cars. A Picatinny rail has been fittedto the request of the customer for theinstallationof a laser rangefinderwhich,withitsGPSanddigitalmagnetic compass, enablesthe TRP-3 NEC to provide the grids of apotential target. The interface canaccommodateother typesofpayloads.iRobot: This firm’s smaller product in thedefence field is the 110 FirstLook, a tracked,

throwable, self-righting platform that canwithstand a drop on concrete from nearlyfive metres. At 2.4 kg sans payload, the 110FirstLook is capable of 5.5 km/h, its rubbertracks ensuring good mobility on mostsurfaces. Submersible down to one metre, it isequipped with two flippers to overcome highobstacles and stairs. Originally those flipperswere flat, but at the high temperatures metby the US Army and Marines in Iraq andAfghanistan, they tended to deform, so havesince been replaced by stronger 3D flippers.Built like a game controller to make it

intuitive for young soldiers, the ruggedised,water resistant control features a five-inch800 x 480 resolution display and weighs 0.9kg. The 2.4GHz band data link (a 4.9 GHzsolution is also available) offers a line-of-sight range of 200 metres. For otherconditions iRobot developed a specific radio

With its 2.4 kg weight the FirstLook can bethrown at a good distance, and yet hassufficient kinetic energy to smash through awindow. (iRobot)

The Oto Melara TRP3 has been adopted by theItalian Army as part of its Forza NEC digitisationprogramme. (Armada/Paolo Valpolini)



16

payload that establishes a mesh connectionamong the robots.Originally designed to beinstalled onboard the robots, it has nowalsobeen redeveloped as a droppable version.Standard fit on the 110 FirstLook are four

visible light to near infrared cameras (henceinfrareddiode illuminationonall sides)withax8digital zoom.However, for reconnaissancemissionsotherpayloadscanbe installedonan

optionalPicatinnyrailandaccessoryport.Thecompanydevelopeditsownreccepayload, the400-gram Idac (Integrated Deployment andCamera) that adds a 270° adjustable mast-mountedcameraataheightof155mm.The FirstLook also supports numerous

NBC sensors such as Smiths Detections’LCD 3.3, RAE Systems’ MultiRAE, andCanberra’s Radiac. Not subjected toInternational Traffic in Arms Regulationsthe 110 FirstLook is in service with the USArmy and Marine Corps, and is expandingits international customer base.Qinetiq: At the upper limit that we haveestablished for mini-robots in terms of weight

is the Qinetiq North America Dragon Runner10, the smaller member of the DR family. Thechassis can be either wheeled or tracked,shifting from one configuration to the otherbeing a simple and quick operation that iscarried out without specific tools, wheelsgiving place to sprockets and tracks and viceversa. A maximum speed of 6.4 km/h isattained by virtue of an undisclosed number ofelectric motors that also afford climbing up100% slopes. The slim body sports a 50 mmground clearance, a plus when operating onrough terrain. When not equipped withpayloads, the DR10 is fully symmetrical andcan thus operate as soon as launched.

The operator can drive the robot thanksto the front and rear day/night cameras,while sounds are picked up an on-boardmicrophone. The DR10 can be used with allQinetiQ control consoles. Not only does theoperator see the pictures provided by thecameras but also heading and robot positionthanks to the integrated magnetic digitalcompass and GPS. Line-of-sight range is inexcess of 650 metres. Depending on mission and payloads, endurance variesbetween two and three hours. The DR10 is inservice with the US military, and withexport customers, among which the United Kingdom.

Developed also in a radio-relay version, the FirstLook has now been provided with adroppable relay that can be left on the ground in the area of operation.(Armada/Paolo Valpolini)

The lightest in the DragonRunner family, the QinetiqDR10 can be set both in

wheeled and tracked versions,and when not fitted with

payloads is fully symmetric andthrowable. (QinetiQ)

In its newest configuration iRobot FistLook has been equipped with new 3D flippers thatensure better resistance especially whenoperating in high temperatures.(Armada/Paolo Valpolini)



iRobot: Besides the small 110 FirstLookseen above, the iRobot catalogue containsbigger robots developed from the original510 PackBot, thousands of which saw activeservice in Iraq and Afghanistan. TheGround Combat Systems programmeincluded a small backpackable ground robotthat would provide infantry teams withautonomous reconnaissance capabilities indangerous areas.

The spin-off of the defunct GCSprogramme is the 310 SUGV that featuresthe typical iRobot architecture with atracked chassis and tracked flippers thatprovide good mobility on stairs and otherobstacles. The flippers can be removed if anarrower configuration is needed (reducingwidth from 437 to 348 mm). At 13.2 kgwithout payload, the 310 SUGV can speedup to 10 km/h and overcome 305 mm-highobstacles, its 2 BB-2557/U batteriesensuring 1.5 hours of operation, though twoBB-2590/U batteries will extend this sixhours. A wide-angle (107°) front chassiscamera with infrared illumination is used todrive the robot, the main sensor forreconnaissance being the arm-mountedlow-light colour x10 zoom camera (field ofviews of between 48° and 5°). The 2.4 GHzdata link ensures a 1,000-metre operationalrange in open terrain, the operator using awearable controller fitted with Tac-Eyehead-up glasses and fame-style handcontroller (a ruggedised head-downcontroller with a 5.6-inch display is available on option). The 310 is in service in numbers in the US military and withexport customers.

Slightly bigger and heavier than theprevious two, 14.5 kg sans payload, theXM1216 SUGV carries the most effectivelong range reconnaissance tool among thethree robots, a colour camera with a x26optical plus a x12 digital zooms, as well as athermal camera with a three-step digitalzoom. All those robots can be equipped with arobotic arm for explosive disposal purposes.

Quinetiq: Also in the small unmannedground vehicle category, Qinetiq NorthAmerica’s Dragon Runner 20 is anothermultirole recce and explosive disposalsystem. Originally developed for the USMarine Corps, this 9.07 kg robot has amaximum speed of 6.5 km/h and featuresday and night cameras at the front and rear,and day-only cameras on the side. Reconnaissance capabilities can be

considerably increased by the addition of apan-tilt-zoom camera with an omnidirectionalmicrophone and a loudspeaker to ensure two-way communication. It can be fitted with track extenders to improve mobility, aswell as with a rear stabiliser for stair climbing.MacroUSA: In the same category MacroUSAproposes the Scorpion, a nine-kilo trackedrobot that can be tossed in the area of interest

Backpackables and Medium SizedThe medium-sized robots do not gradually step up in size and weight to necessarily bemore robust, but simply to enable them to bear more weights, and also make their first steps into some degree of autonomy, although they are still very far from embeddingany sort of artificial intelligence.

17

By acquiring a six-wheel configuration and the ability to launch grenades, the HDmember of the Nexter Nerva is also acquiringthe nerve for more muscular operations.(Armada/Paolo Valpolini)

The Dragon Runner 20 is the medium-weightchampion developed by QinetiQ for the US Marine Corps; here it is fitted with trackextenders. (QinetiQ)

In the mediumcategory iRobotproposes its 310SUGV, pictured whileclimbing stairs withan explosive devicedisposal fitting.(iRobot)



18

thanks to its high impact resistance plasticchassiswith aluminiumreinforcements.The standard sensor suite includes a front

tiltable day/night colour camerawith a 185°field of view and a ±60° tilt angle, withinfrared and white diode lighting, a rearfixed colour day/night camera, and an audiomicrophone. The Scorpion can reach 10km/h and be dropped from a height of onemetre. It can carry apayload equivalent to itsweight, including thermal cameras orchemical sensors, as well as explosivemanipulators or disruptors.ECA Robotics: Among the lightest robots inthe medium category, the Cobra Mk2proposed by this renowned French companyis a multi-mission platform with a five-kilopayload capacity over a 6.1 kg clean vehicle.The company proposes different payloads,such as a CBRN module with chemical andradiological sensors as well as a radiationdosimeter, an explosive ordnance disposalmodule with a support that can

accommodate different types of disruptors,and obviously an ISR module with a 360°video camera. It also has a ±80° colour CCDcamera at the front and a fixed colour cameraat the back. Both white and infrared diodelighting is provided, while a microphone anda speaker provide two-way acoustic coverage.Equipped with low pressure tyres, the 4x4Cobra Mk2 is powered by a 15 V Li-ionbattery that ensures a 2.5 hour operatingtime. Maximum speed is 5 km/h andmaximum obstacle height 150 mm. Thedeclared operational range is 250 metres inopen terrain, two different control stationsbeing available, one with a seven-inch screenand one with a 10-inch screen, the joysticklayout being also different.One of ECA Robotics’ latest

developments is the adoption of androidtablets or smartphones for control, reducingthe soldier’s burden as those devices can havemultiple uses. This has not been the onlyimprovement, the Cobra Mk2 being nowequipped with a GPS that allows tomemorise the robot’s path, allowing it tocome back to the starting pointautomatically. Tyres with reduced diameter(20 mm less) were adopted to avoidproblems when the robot is used to carry outchecks under vehicles, and a track kit is nowalso available to improve mobility ondifficult terrains. The launch customer in themilitary field for the Cobra Mk2 is Canada,which ordered 20 robots with an option on

a further 80. Canada required the system tobe fitted with a disposable optical fibreguidance system, that allows to operate theCobra Mk2 to a range of 1,000 metres. Robo-team:The MTGR, for Micro-TacticalGround Robot, was developed by Robo-team in Israel as a multirole robot, but withintelligence, surveillance and reconnaissanceas main mission for basic infantry units. Forurban use the MTGR is provided with anall-track configuration, while for off-roaduse it maintains tracks although theadoption of larger diameter wheels thatconsiderably improve mobility in mud, overboulders and on stairs.This obviously comes at a cost in terms of

weight and dimensions, the standard versionweighing 7.3 kg while the wheeled-trackedone weighs 8.6 kg, with dimensions alsoincreasing from 455 x 368 x 145 mm to 472 x470 x 165 mm, but the system remains fullybackpackable, however. The MTGR can beput into service in less than 60 seconds by itsoperator, and can reach a speed of 3.2 km/h; itcan overcome a 35 cm obstacle, climb a 45°ramp and 20 cm stairs thanks to trackedflippers that can be added. The MTGR isequipped with five cameras, the front onehosted in a bay and tiltable –20°/+90°, theother being fixed around the body providinga 360° view to the operator. Near infraredillumination is provided all round, while awhite diode light is available at the front. TheMTGR can be equipped with a manipulator

ECA of France developed the Cobra Mk2, with Canada as its military launchcustomer; the robot can be controlled viadedicated control stations or via cots systemssuch as smartphones. (ECA)

MacroUSA Scorpion remains droppable in spiteof its nine-kilo weight, its payload capacitybeing equivalent to its dry weight. (MacroUSA)

The Micro-Tactical Ground Robot, MTGR in short, is a multirole robot developed by Roboteam,which can also be fitted with large-diameter wheels. (Robo-team)



19

specifically designed by Robo-team totransform it into an explosive ordnancedisposal asset with the addition of a four-degree-of-freedom system with two joints,one gripper and wrist capability. This has amaximum extension of 360 mm and load-bearing capability of 5.4 kg. The arm carriestwo cameras, one with a x10 zoom and aclose camera on the gripper, with bothinfraredwhite lighting.Other sensors, suchasradiation detectors, sniffers, thermalscameras, etc. can easily be integrated on theplatform thanks to aPicatinny rail. The datalink adopted featuresmeshingwhich allowsto extend range beyond500metres in line ofsight, autonomy provided by the batterybeing of two to four hours. The meshconcept is currently being stressedwithnewsolutions, such as adopting a transceiver insoldiers’ vests as well as developingtransceivers that the robot can leave behinditself, when entering a culvert or a tunnel forexample, to ensure proper connectivity.As for full autonomy, Robo-team

considers that this is still a decade away.However, to make the use of the MTGR aseasy as possible for the operator, thecompanydevelopeda series of pre-setmodesfor climbing stairs, lifting loads, etc., thatconsiderably reduce human intervention.Typically the MTGR is provided with the

Rocu-7 console, which runs onWindows 7and features a 7-inch touch-screen with a1024 x 600 resolution. The Rocu-7 featurestwo joysticks, eight hard buttons and fourrockers, weighs 2.3 kg with batteries givinga running time of three to six hours. Theresults of the testing carried out by the USNational Institute of Standards andTechnology led to the urgent acquisition ofanundisclosednumberofMTGRsby theUSSpecials Operations Command, the systembeing also considered for the greenArmy tobe deployed by standard infantry units. TheMTGR is also in service within the IsraeliDefence Forces, and Robo-team is stronglypromoting its robotworldwide.Nexter: The heavier member of the Nervafamily is the 11 kg HD, for Heavy Duty. Itretains numerous features of its lighterbrothers but increases its payload capacity to10 kg. The Nerva HD retains the same datalink, one-click concept, two-speedalternative and many of the featuresdeveloped for the LG and S models, but it canbe declined in three different configurations,4x4, 6x6 and tracked.

When used as a 4x4, the robot is fitted withspecial 300 mm diameter wheels that improveits mobility over rough terrain. In addition,two flippers can be fitted in place of theintermediate wheels and used by the operatorto overcome difficult obstacles. In 6x6operation, the 4x4 wheels are replaced bystandard 150 mm diameter wheels, the sameas the Nerva LG’s, which also accept rubbertracks, in which case the two centre wheelsbecome idlers and only act as roadwheels.

The standard sensor suite includes a front110° field-of-view high resolution camera withvisible and infrared lighting and a rear camera,as well as an omnidirectional microphone.Compared to the smaller robots the HD has amore comprehensive navigation suite, whichincludes GPS, odometer, magnetic compass,three gyrometers and three accelerometers,the vehicle being differential-GPS compatible.Such precise location data are precious whenoperating in one of the various semi-autonomous modes available such aswaypoints navigation, autonomous patrollingand automatic self-homing. Compared to theNerva LG, the HD has two slots for Nerva-standard mission kits; mission payloads canhowever be linked via Picatinny or via aconfigurable metal plate. The HD is equippedwith Ethernet, USB, RS232, digital I/O andvideo input. Nexter developed a series ofmission kits with the Nerva interface, amongwhich is a pan-and-tilt day camera with a x36zoom for long range reconnaissance, anuncooled thermal infrared camera, anadditional battery that allows to double thetwo-hour autonomy, a bi-directional audiointercom, a smoke generator used as anti-intruder reaction or position indicator, andsome CBRN sensors. Transportation modulesallow mini-logistic operations, whiledemining tools can be also provided. M-Tecks:Another French company, M-TecksRobotics based in south-western France,developed a series of light ground robots fordual use. The Arthron POD 125A is asymmetrical 4x4 vehicle that can be droppedfrom 2.5 meters without any problem. Itssymmetry is not limited to the physicalconstruction but also expands to its sensors:front and rear ends each carry two colour daycameras and one night camera, and two whitediode lights. Power from the hot-swappable12.8V Li-ion battery offers a 1.5-hour

Here the MTGR displays its Peeping Tomabilities at night, its articulated tracked systemenabling it to adopt somewhat acrobaticpostures. (Roboteam)

Developed by M-Tecks Robotics of France theArthron Pod 125 is a 4x4 adopting a data link that allows to create a mesh with up to 127 robots. (M-Tecks Robotics)

The senior member of Nexter’s Nerva family isthe HD that sports a 6x6 chassis with two slotsfor payload modules. It is here seen here fitted with a camera and a grenade launchermodule. (Armada/Paolo Valpolini)



A COMPENDIUM OF LAND ROBOTS, FROM THROWABLES TO TRUCKS

Compendium Land Robots 2014Compendium Land Robots 2014 Compendium Land Robots 2014 Compendium Land Robots 2014

110 FirstLook iRobot-USALxWxH: 254 x 229 x 102

2.4LIGHT

1.53 6

Armadillo V 4.0 MacroUSA-USALxWxH: 320 x 265 x 130

3.7LIGHT

0.83 1-2 3

Armourdillo Robosynthesis-UKLxWxH: 430 x 280 x 200

3.3LIGHT

1.34-2.82 1 2

Beetle MacroUSA-USALxWxH: 206 x 175 x 75

1.8LIGHT

1-2 0.7undiscl.

Dragon Runner 10 QinetiQ-USALxWxH: 394 x 351 x 152

5 1.79LIGHT

2-3

EyeDrive Mistral Group-IsraelLxWxH: 280 x 250 x 110

3.76 1.11LIGHT

2 3.5

Iris Roboteam-IsraelLxWxH: 203 x 229 x 109

1.13 1.34LIGHT

2-4 1

iSnoop Optimess-GermanyLxWxH: 216 x 80 x 80

1 1.3LIGHT

2

Nerva-S Nexter-FranceLxWxH: 210 x 300 x 150

2LIGHT

1.11 or 4.17 4 1

NovaCTR Novatiq-SwitzerlandLxWxH: 180 x 120 x 56

0.6LIGHT

0.69 1.5

NovaMRR Novatiq-SwitzerlandLxWxH: 240 x 220 x 100

2.8LIGHT

2.77 2

Nerva-LG Nexter-FranceLxWxH: 350 x 310 x 150

4.5LIGHT

1.11 or 4.17 1-2 6

2.5

NovaSRR Novatiq-SwitzerlandLxWxH: 260 x 216 x 110

2.5LIGHT

1.95 2 2.5

PocketBot Novatiq-SwitzerlandLxWxH: 194 x 190 x 100

0.8LIGHT

0.69 1.5

Reconscout IR ReconRobotics-USALxWxH: 142 x 194 x 76

0.56LIGHT

0.3 1

Reconscout XL ReconRobotics-USALxWxH: 300 x 216 x 140

0.64LIGHT

0.6 1

Roboforce 1 Robosynthesis-UKLxWxH: 400 x 295 x 130

2.9LIGHT

1.34 – 2.82 1.5 - 3 2.5

StoneMarten Novatiq-SwitzerlandLxWxH: 370 x 334 x 150

4.45LIGHT

1.95 2-4 5

Throwbot XT ReconRobotics-USALxWxH: 209 x 193 x 114

0.54LIGHT

0.46 1

TRM PIAP-PolandLxWxH: 205 x 167 x 190

1.4LIGHT

0.86 1 0.16

TRP-3 Oto Melara-ItalyLxWxH: 300 x 260 x 130

3LIGHT

0.50 3 3

Arthron 4075A M-TeckRobotics-USALxWxH: 600 x 250 x 120

9MEDIUM

5-7 2

310 SUGV iRobot-USALxWxH: 708 x 348 x 229

13.2MEDIUM

2.78 6

1

Cobra Mk2 ECA-FranceLxWxH: 364 x 392 x 170

6.1MEDIUM

1.39 2.5 5

Dragon Runner 20 QinetiQ-USALxWxH: 508 x 381 x 178

9.07MEDIUM

1.78 3-4

EXTRM Robosynthesis-UKLxWxH: 620 x 440 x 200

9.5MEDIUM

0.42 – 1.67 6-12 10

MTGR Roboteam-IsraelLxWxH: 455 x 368 x 145

7.26MEDIUM

0.9 2-4 9.1

Nerva-HD 4x4 Nexter-FranceLxWxH: 650 x 450 x 300

11MEDIUM

1.11 or 4.17 2 10

Nerva-HD 6x6 Nexter-FranceLxWxH: 650 x 450 x 150

11MEDIUM

1.11 or 4.17 2 10

PackBot 510 iRobot-USALxWxH: 686 x 516 x 406

13.69MEDIUM

2.78 4

Scorpio Tecdron-FranceLxWxH: 435 x 327 x 185

5.9MEDIUM

1.11 4 8

Scorpion MacroUSA-USALxWxH: 557 x 485 x 221

9MEDIUM

2.78 1-2 9

XM 1216 SUGV iRobot-USALxWxH: 607 x 348 x 165

14.52MEDIUM

2.78 6 Undiscl.

Robocube 4x4 Robosynthesis-UKLxWxH: 580 x 390 x 200

7.5MEDIUM

0.42 – 1.67 1.5-3 8

4MOB Sterela-FranceLxWxH: 1450 x 840 x 600

HEAVY

2 8 75

AvantGuard G-NIUS-IsraelLxWxH: 914 x 419 x —

1,746HEAVY

Undiscl. 1,088

CaMEL Northrop Grumman-USALxWxH: 1524 x 813 x 1194

??HEAVY

2.35 20 > 350

Cayman Tecdron-FranceLxWxH: 627 x 594 x 134

26HEAVY

Undiscl. 3 20

Guard Bot Marsch Systems-GermanyLxWxH: 850 x 650 x 300

43HEAVY

1.39 2-3 20

Guardium Mk.1 G-NIUS-IsraelLxWxH: 2950 x 1800 x 2200

1400HEAVY

13.9 24 Undiscl.


1200HEAVY

13.9 24 400


3000HEAVY

33.3 2000

HMV G-NIUS-IsraelLxWxH: **

HEAVY

1200

Lynx-C JELS-JordanLxWxH: 1200 x 980 x ??

120HEAVY

MAARS QinetiQ NA-USALxWxH: 940 x 635 x 914

167HEAVY

3.13 8-12

MADSS Northrop Grumman-USALxWxH: 1524 x 813 x 635

HEAVY

2.35 20

MRK-002-BG-57 RussiaLxWxH: 3000 x 1800 x 1260

1,100HEAVY

9.72 10 h/250 km

Probot Roboteam-IsraelLxWxH: 1067 x 762 x 432

120HEAVY

3.35 6-12 250

Protector HDT Global-USALxWxH: 1930 x 900 x 1067

510HEAVY

2.22 100 340

Quator Tecdron-FranceLxWxH: 750 x 650 x 277

29HEAVY

3.89 4 50

Quator XL Tecdron-FranceLxWxH: 1250 x 1150 x 820

260HEAVY

2.22 to4.17 m/s

8 500

Raider II QinetiQ-USALxWxH: 3860 x 1498 x 1930

764HEAVY

480 794

Rex IAI-IsraelLxWxH: 1600 x 800 x 750

160HEAVY

3.33 Undiscl. 250

Robas Gate Elektronik-TurkeyLxWxH: 1500 x 800 x 800

250HEAVY

2.78 4 150

Robbox SERA-FranceLxWxH: 3400 x 1640 x 1075

700HEAVY

11.11 300 km/80 km 500

Scarab LX Tecdron-FranceLxWxH: 1370 x 765 x 500

215HEAVY

1.81 8 200

SMSS Lockheed Martin-USALxWxH: 3400 x 2000 x 1800

1,955HEAVY

7.22 200 682

TRP-2 Combat Oto Melara-ItalyLxWxH: 1153 x 599 x 890

80HEAVY

4.17 4 20

TRP-2 HD Oto Melara-ItalyLxWxH: 1250 x 600 x 800

300HEAVY

2.78 4 100

TRP-2 Rista Oto Melara-ItalyLxWxH: 1220 x 580 x 460

60HEAVY

4.17 3 30

KEYCATEGORY

weight, kg

diesel electric hybrid

speed, m/sec endurance, hrs kg

PERFORMANCE

POWERPLANT

WHEELS

TRACKS & TRACKS OVER WHEELS

CAPACITY

Arthron 125A M-TeckRobotics-USALxWxH: 390 x 307 x 170

6,4MEDIUM

4.17 1.5 +

LIGHT HEAVYMEDIUM

Stingray MacroUSA-USALxWxH: 241 x 190 x 95

1.8LIGHT

0.7

1

-------undisclosed-------

2 2 1 4 6 8

Land Robots Table-FINAL.qxp:Layout 1 10/1/14 9:47 PM Page 1

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running time. Maximum speed is 15 km/hwith standard 170 mm diameter wheels.Wheels canbechanged forparticular terrainsalthough no quick-change system wasconsidered for various reasons, one of thembeing strict cost control.

The POD 125A data link ensuresoperations up to 300metres in open terrainand 200meters in urban areas; however thecommunications architecture has beendesigned for swarmoperations, thus the fullpotential of the M-Tecks Robotics groundrobot is obtainedwhenmultiple vehicles aredeployed on the ground. Each of them willact as the node of a mesh, thus increasingrange and flexibility, especially in urbancanyons; each robot is equipped with a GPSand up to 127 robots can be used to form amesh.Active also in pipe-inspection robots,M-Tecks Robotics retained wire-commandfor its recce robots, the POD 125A havingthe option of being operated by wire to arange of 30metres.

In its quest for improved mobility onrough terrain,M-TecksRobotics developedabigger, nine-kilo reconnaissance robot.Known as the R 4075A this 8-wheeler’sarchitecture is quite peculiar in that it iscomposed of four one-axlemodules that arelinked to eachother via a universal joint thatdistributes main motor drive to all wheels.The multiple-articulated structure wasdeveloped in the course of a five-yearresearch effort, and considerably improvessteering and bending, and thereby obstaclecrossing and mobility by a factor of three.One of the intermediate wagons hosts themainmotor while the other house themainbattery – a standard 15V 6800 Ah NiMh

providing two hours of operation. The twoend modules each carry two auxiliarymotors that ensure relativemotion betweenthose and the previous module, thusproviding agility to the polyarticulatedstructure to obtain maximum mobility ondifficult terrain. TheR4075Acan copewith300 mm high obstacles and 270 mm longgaps, and climb up 100% slopes. Standardwheels have a 140 mm diameter, anddifferent type of tyres can bemounted.

Two daylight cameras, the upper oneorientedupwards and the loweroneorienteddownwards, allow for a combined 160°vertical field of view, the single night camerabeing orientedhorizontally,while twowhitediodes ensure better illumination whenneeded. Video transmission is ensuredthanks to a 2.4 GHz link, while commandsare provided via an 869 MHz link, rangebeing of 300metres in open terrain andover100metres in urban terrain. Like its smallerbrother the R 4075A has a wire-commandoption, here up to 50 metres. Operationalmodes include semi-automatic remotecontrol, which considerably reduces theoperator workload, and even an automaticmode. Video-stabilisation software isavailable, as well as a camera-domecontaining a colour or a thermal camera.

Both the POD125A and the R 4075A arecontrolled by a 2.5 kg console sporting anine-inch screenanda joystick.Currently theprototypes of both systems are being testedby the French DGA, lessons learned fromthose tests being integrated in the designsthat are both still in thedevelopmentphase.Robosynthesis: This company’s modularsystem described in the “light” groundrobots section, can of course be used togenerate bigger and heavier robots. Anexample of that is the EXTRM platform, a 9.5kg multi-mission system the maximumspeed of which ranges from 1.5 to 6 km/hdepending on the mobility system used.With an overall height of only 200 mm (thediameter of the wheels), it can overcome 450mm high obstacles when fitted with the taildragger, cope with 40° lateral slopes andclimb a 50° slope, providing grip is sufficient.

It can be fitted with a 2.4 or 5.8 GHz datalink providing a 1000-metre operating range,and is powered by two rechargeable Li-ionbatteries, either BB2590/U or BB2557/U,that provide respectively 12 or 3 hours ofendurance. The operator drives the robotusing the images provided by an infrared-illumination sensitive, fixed focus, wideangle 640 x 480 resolution camera, while a

Arthron R 4075 has a peculiar architecture, themodules being linked by a universal jointsystem that enables its 8x8 chassis to steer andbend to improve mobility. (M-Tecks Robotics)

With its modular system Robosynthesisdeveloped the EXTRM, which can be equippedwith a tail dragger to allow it to overcomehigher obstacles. (Robosynthesis)

Shown at Sofex 2014 the Robocube is anothermedium-size robot that features eight socketsfor installing extra batteries or payloads.(Armada/Paolo Valpolini)

Detail view of the Universal Socket developedby Robosynthesis to allow instantaneousmechanical, electric and data coupling ofpayloads. (Armada/Paolo Valpolini)


Compendium Ground Robotics.qxd:Armada 10/1/14 9:12 PM Page 20

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pan-tilt-zoom optronic set is also availablefor reconnaissance purposes; the latterfeatures four integratedmicro-cameraswithdifferent focal lengths, thus providing astepping zoom effect with field of views ofbetween 7.5° and 60°, while the 0.008 luxsensitivity ensures good images even in verylow light conditions.

As with all Robosynthesis systems, thelatest version of EXTRM is fitted with anumber ofUniversal Sockets that can acceptpayloadsof different kinds.At Sofex2014 theCompany exhibited the Robocube 4x4;lighter and smaller than the EXTRM, itfeatures six topside universal sockets andtwo lateral ones.Tecdron: Again from France, Tecdron has aconsiderable portfolio of ground robots,from light to heavy. The Scorpio is a threewheeler tactical remote-control robot thatfalls in the medium category with its 5.9kilos; in August 2013 when the programmewas launched the company gave priority totoughness, image quality and transmissionrange from the outset, which led to a robotthat is slightly heavier than others developedfor similar missions. With a chassis entirely

built in aeronautical aluminium, the Scorpiois fully waterproof to two metres depth andtreated against corrosion. It can be launchedout to ten meters distance without any riskof breaking its components. It is powered bytwo electric motors, the rear wheel onlyhaving a stabilisation role, and can climb a35° slope and cope with a 30° side slope; its180 mm diameter rubber wheels allow it toovercome 140 mm obstacles and provide

good mobility on difficult surfaces such asmud, gravel or sand. A 12 Volt 5.8 A/hLithium-ion battery ensures a four-hourendurance; a second battery is offered onoption allowing to double the endurance.

Equipped with a wide-angle day/nighttilt-zoom camera at the front, it is fitted withinfrared diode lighting as well as with amicrophone for audio recording. Images andaudio are transmitted via a digital data-link tothe mini-control station which includes afive-inch display, a joystick and a series ofpush-buttons. Operational range in line ofsight is 300 metres while in urban terrain andinside building this is reduced to 100 metres.The Scorpio can carry up to eight kilos ofpayload, although this is not its principalaim. For the time being it has been sold tothe French National Police, mostly for itsspecial units that tested it for months. In themilitary it has been tested by French specialforces, its weight being the only drawbackwhen considering its tactical use. Thesmaller platform, the Vixen, has been put onstand-by as Tecdron is currently improving itin many ways and a prototype of the newconfiguration is expected in late 2014.

Relatively heavy for a three-wheel robot,Tecdron’s Scorpio was designed withrobustness as a key parameter. (Tecdron)

In addition to the above, recce packages,even installed on telescopic masts, as wellas explosive ordnance disposal gear with

robotic arms and disrupters, can transformthese platforms into specialised vehicles withthe advantage of being easily reconfigurableagain for other missions in a very short time.Their level of autonomy as well as theirmobility can vary consistently: most of thesolutions currently available are based onwheels, which provide an average mobility

on rough terrain, tracks being more noisyand complex. For the time being, leggedsolutions have been tested at experimentallevel, as in the case of Darpa’s Legged SquadSupport System (LS3).

The LS3 is a highly mobile, semi-autonomous legged robot capable to interactwith the troops. The six legged platform aimsat a degree of mobility comparable with that ofthe human being, avoiding reducing theoptions for the troops on foot. Electrically

powered, the LS3 can carry 180 kg over 32km, and does not need any intervention for a24-hour period. The platform is under testsince July 2012 by the US Marine Corps andthe US Army. Its three main autonomousmodes are the following:� leader-follower tight, where the platformattempts to follow as closely as possible thepath of its leader; � leader-follower corridor, in which the LS3 follows the leader while maintaining

Heavyweights: theInfantrymen Sherpas...A category of ground robots is emerging to ease theburden off the infantry team’s shoulders. Those systemsare capable of carrying a heavy load thus can follow asquad on the field letting the soldier just with his day-sack, while bearing the heavier bergens. Another typicaltask for those robots is for them to replace inhabitedvehicles in dangerous missions, such as ammunitionresupply on the frontline, or Casevac missions from thetroops-in-contact area to a safer zone.

While legged robots might be the bettersolution to ensure a mobility close to that of ahuman soldier, for the time being heavy robotsdesigned for logistic purposes remain fittedwith wheels or tracks. (DARPA)



26

a greater freedom to make local pathdecisions and�go-to-waypoint,whereby the system’s localperception allows it to avoid obstacles on itsway to a locationdesignated byGPS grids.�The testing phasewas due to last two yearsand should thus be close to completion.Lockheed Martin: This company’s SquadMission Support System, SMSS in short, isthe only “mule” type ground robot that canclaim to be combat proven. The system wasselected in 2011 by the US Army for itsProject Workhorse trial and four SMSS weredeployed downrange in 2012. These obtaineda great success among troops who asked forthem to remain in theatre. Their capacity tocarry nearly 700 kg of supplies whileautonomously following troops provedextremely valuable, and at least in one casethe system was overloaded with more thanone tonne of materiel and worked flawlessly.Developed around 2005 and

continuously updated, the SMSS is based onthe PFM Manufacturing Inc. Land Tamer6x6 XHD built in marine grade aluminiumand powered by an 80 hp turbodiesel engine.The figures provided for the Block 1 versioncall for a 1,955 kg gross vehicle weight, a 682kg load-bearing capacity, the vehicle beingair transportable inside CH-53 and CH-47helicopters, or under a sling by a UH-60.Lockheed Martin concentrated on addingautonomy capabilities, the SMSS being able tooperate in various modes such as manualdrive, remote operation, voice command,return to operator, go-to-point via selectedwaypoints, return via the generated path,GPS waypoint navigation, follow-personand follow-vehicle.While US Army personnel tried to retain

the SMSS in theatre due to its usefulness, boththe Army and Lockheed Martin pursued thedevelopment of other mission packages and tested them in the field. This went from forward deployment reconnaissancecapabilities using a satcom link, to routeclearance using a roller-rake system. In bothcases a Lockheed Martin 9” Gyrocam wasinstalled on a mast providing long rangereconnaissance or allowing to identify suspectareas where bombs might have been planted.A route clearance test was carried outequipping the SMSS with a roller-rake system,while satcom-controlled missions were alsotested in America involving command rangesof over 300 km distance. Overall LockheedMartin built eight SMSS, the last two to a“Block 2” standard, though no details havingbeen released on the upgrades.

In August 2014 Lockheed Martin carriedout a demonstration, in co-operation withthe U.S. Army Tank Automotive Research,Development and Engineering Center, thatinvolved two of its uninhabited systems, theK-MAX helicopter, developed with Kaman,and the SMSS equipped with a Gyrocamoptical sensor. The unmanned packagemission was to resupply a group of soldiersdefending a village. The K-MAX flew theSMSS in the vicinity of the village, therobotic system reaching the soldiersproviding the required supplies. The 8x8semi-autonomous vehicle then reached anobservation point where it used its mast-mounted 9” Gyrocam sensor to scan the arealooking for enemy forces. Both the SMSSand the K-MAX were equipped with mobilesatcom systems as well as local line-of-sightcommunications systems. Furtherdevelopments might see the adoption of anew platform, the development of a less-than-lethal and/or lethal capacity with aturret and the shift from semi-autonomous tofully autonomous movement capability.Northrop Grumman: This companydeveloped the Carry-all Modular EquipmentLandrover, or Camel in short, to providelogistic support to patrols on foot. The systemis a 6x6 platform that can be easily fitted withrubber tracks over the wheels when needed.Each wheel is powered by an electric motorfed by a diesel-electric generator. The engineruns on diesel fuel or JP8, and its 13-litre tank

ensures over 20 hours of operation; such asolution allows for quiet movement whenclose to potential danger. It has a maximumspeed of eight km/h, can climb 40% slopes,move across 20% side slopes, overcome 0.3-metre obstacles and fords. Its load, nested in atubular structure mounted on the chassis, canbe in excess of 350 kg.

Northrop Grumman’s Camel 6x6 can carry over 350 kg of supplies and can be quickly fittedwith rubber tracks. (Northrop Grumman)

Lockheed Martin’s Squad Mission Support System (SMSS) has been used in Afghanistan as amule but it is now also proposed as a reconnaissance asset. (Armada/Paolo Valpolini)



27

The Camel is equipped with an obstacledetection and avoidance sensor package. Itcan be guided in tethered or follow-memode. In a convoy theywill followeachotherin wagon train mode. Numerous optionalkits are offered in addition to the above-mentioned tracks, like an extended-rangeexternal battery pack, interchangeable datalinks, fibre optics, hard-line cable orradiofrequency systems. According to thecompany both theUSArmy and the Socomhave shown a great deal of interest in theplatform in its base configurationaswell as inarmed configurations described later in thisCompendium.HDT Global:The Protector tracked robot isdeveloped by HDT Global as a multirolesupport system for soldiers on the field.Powered by a 32 hp diesel engine it can carrya 340 kg payload plus pull another 225 kg onan associated trailer. The Protector can bequickly disassembled in man-portablemodules to allow to cross unforeseenobstacles. Its 57-litre fuel tank (JP8 or diesel)is good for a 100 km endurance. Theprotector’s maximum speed is eight km/h.The base vehicle is remotely controlled and acruise-control mode allows to reduce theoperator’s workload.

HDT also demonstrated that its robot canacquire some level of autonomy with a semi-autonomous navigation based on data frommultiple sensors including electro-optics,active radio-frequency identification tags,lidar, differential GPS, attitude heading

reference system, and drive sprocketodometer on each track. For increased safetyin follow-mode operation at least two of thesensors must agree on the location of theleader before the Protector follows. Thesystem has a hydraulic power outlet foraccessories and a 2kW electric power output.In addition to its usefulness in routeclearance and explosive disposal operations(which are not the purpose of thisCompendium) the Protector can be fittedwith a back hoe and a front loader tocontribute to the creation of post and baseprotections (filling gabions with earth, etc.)and then return on patrol duty with thetroops. A Casevac configuration with twostretchers, a version with a tethered dronefor surveillance, and an armed version withan M-153 Crows remotely controlledweapon station have also beendemonstrated. The wireless remote controlhas a thumbstick and two buttons.

In Israel two companies have developeda wheeled carrying platform, IsraelAerospace Industries and Robo-team.IAI: Israel Aerospace Industries’ LahavDivision has developed a robotic platformknown as the Rex, a 4x4 powered by a dieselengine. It can hit 12 km/h carry up to 250 kgover a dry weight of between 160 and 200 kg.Its first role is to support foot patrollers bycarrying part of the soldiers’ burden. Therobot can be operated in three differentmodes. The simpler is remote control. Thesecond sees the use of a mechanical leashheld by a soldier, the Rex following himalong the path. The smartest mode is thefollow-me by virtue of which the robotfollows the path of the soldier whoseA multirole robotic system, the Protector

developed by HDT Global is seen here in alogistic transport mode. (HDT)

IAI Lahav Division developed the Rex, a 4x4platform capable to carry up to 250 kg payload.A new version will see this figure increased to atleast 300 kg. (Armada/Paolo Valpolini)

Its weight and its payload capacity allow theProtector to be transformed into a weaponised platform, equipped here with a Crows weapon station. (HDT)

The Mobile Armed Dismount Support System is the weaponised version of the Camel, seen hereduring firing trials, with a detailed view of the installation in the insert. (Northrop Grumman)



28

coordinates are sent via radio to the Rex,which follows thewaypoints provided by itson-board GPS. If more payload carryingcapacity is needed a group of Rex can beused in this mode. Although notimplemented on the prototype, the Rex canbe equippedwith a route recordingmode toenable it to return to its starting point, amode that could be of use for repeating a re-supply route and perhapsmore importantlyto bring back a casualty.The Rex is not only proposed for logistic

support, but also for other duties, such asreconnaissancewith a package that includesa gimballed electro-optical sensor. The Rexprototype has been evaluated by the IsraeliDefence Forces as well as by foreign armies,whose feedback led to the development of asecond generation Rex. One of the mainalterations affects size and weight: the newrobot will have a payload capacity of at least300 kg over aweight increased to 230 or 250kg.Operatingmodeswill remain similar, IAIconsidering that increasing the level ofautonomy would considerably increasecosts, which goes against the companymarketing strategy. What will definitelyevolve is the propulsion system, the second-generation Rex being fitted with a diesel-electric pack that allows “silent creeping”when stealthiness is amust.According to IAIthe prototype of the new-versionRexwill beready for trials in late 2014.Robo-Team: Already seen earlier in thisCompendium, Robo-Team in this categoryoffers a system known as the Probot(Professional Robot), and features an electric

4x4 chassis, with load-carrying capacity morethan twice its 120 kg weight. Electricpropulsion was chosen to ensure maximumaural stealthiness, compared to the muchnoisier robots in this class powered by petrolor diesel engines. Its maximum speed of 7.5km/h allows it to easily follow troops on foot,while its capacity to climb 23 cm obstaclesand stairs ensures sufficient cross-countrymobility. The Probot is equipped with 360°day/night vision with one camera per sideand a 360° near-infrared illuminationmodule. The front camera can be tilted45°/+90° and is equipped with a x10 zoom,while the lighting system features also a whitediode light. 12V or 28V is available as areEthernet RJ45 and RS232 ports to interfacepayloads with the on-board computer.Robo-team proposes packages such as a

bomb disposal kit that includes a heavyweight manipulator, a recce kit, CBRNE andHAZMAT detection kits, and so forth. TheProbot is equipped with a 1,000-metres line-of-sight data link. In addition the platformis equipped with tracing and imagingsensors for hands-free navigation in urban,indoors and open spaces, a follow-me systemallowing the Probot to follow automaticallythe infantry squad it is assigned to. Robo-team is not much talkative on those detailsas the Probot is still being developed, with anumber of prototypes currently in the handsof potential customers to obtain feedbackbefore moving to production. The companyis of course working on autonomy packagesthat might easily find their place on theProbot given its size and payload capacity.

Quinetiq: In recent years Qinetiq NorthAmerica developed numerous groundrobotic systems belonging to the heavycategory for different purposes, routeclearing, reconnaissance, combat, etc. For support missions the company

developed solutions aimed at robotisingexisting vehicles. Its Robotic Appliqué Kit(RAK) was designed in such a way it can beinstalled in about 15 minutes on 17 differentmodels of Selectable Joystick Controlled(SJC) Bobcat loaders to be used in varioustypes of missions, mostly related to routeclearance such as the Minotaur and the RaiderI, or the Spartacus combat engineer tool. Toprovide logistic support to infantrymenQinetiQ North America developed theRaider II with Polaris Defense, since thevehicle is based on the Military Diesel CrewLong Box. It can still be operated by a soldier inwhich case it can reach a maximum speed of55 km/h. Otherwise the Raider II can be usedin remote-operation or the autonomousmodes. In the first instance it is controlled viathe one-kilometre range Tactical RoboticController; in the second different behavioursare available such as obstacle detection,obstacle avoidance, follow-me, waypointnavigation and return home.Adaylight and a640 x 480 thermal camera with pan, tilt andzoom are installed on the roll cage, while fourcamera pods provide 360° coverage. Soldierscan hang up to 10 rucksacks cage sides, whiletwo litters can be secured on the flatbed formedevac purposes.Transforming ATVs in unmanned

systems is not new: Boeing UK and JohnDeere developed a similar system some yearsago called the R-Gator A3 with a loadbearing capacity of 635 kg. Sterela: Tasked with the development of theAir Cobot chassis, (Cobot being the somewhatconvoluted acronym of Aircraft enhancedInspection by SmaRt & Collaborative robot),Sterela, of France, exhibited its new platformat Eurosatory 2014 in a mule role. A four-wheel drive chassis the 4MOB is equippedwith all embedded and remote emergencyshutdown systems required in industrialenvironments, including obstacle detectingbumpers. It has a 100 kg capacity, has a 200-metre range data-link, is powered by electricmotors, and Li-ion 48 V battery pack affords itan eight-hour endurance.Differentially steered, the Sterela platform

can work in follow-me mode, or follow a pre-programmed path, the latter being offered asoption. Its standard speed is 7 km/h; howeveran optional booster can pump this to 18 km/h.

With nearly 250 kg of payloadProbot can be used forresupply or casevac missions,sensor kits and explosivedisposal kits also proposed byRobo-team. (Robo-Team)



29

Sera Ingénierie:A French company part of theSogeclaire Group, Sera Ingéniérie receivedfrom the French DGA a contract for thedevelopment of a robotic vehicle as part of theRapid programme, the acronym standing forRégime d’Appui Pour l’Innovation Duale,which is support regime for dual innovation.The architecture being associated withtransport requirements, the resultant robotknown as the Robbox is composed of anupper beam that links the two automotiveunits, which can be either diesel or electric.The diesel unit is equipped with a 16.75 hp

engine while the electric unit features a 15 kWelectric motor and a 6 kWh Li-ion energypack. Depending on the choice one or bothaxles are steerable. In the second case theturning radius drops from 5.4 to 3.4 metres,which equates to turning on a penny since thisis the Robbox’s length. The maximum on-board power available for a payload is 2kW,its maximum weight being 500 kg. This canbe distributed in two modules: the upper onewith maximum dimension of 2400 x 1200 x400 mm, while the lower one must be smallerthan 1200 x 1500 x 550 mm. This leaves 250mm of ground clearance to allow goodmobility on obstacles.

Nexter’s exhibit was the Mule, featuring atop tray and a low floor case, able to carry300 kg, but combined maximum weight islimited to 400 kg as with the structures andsystems installed the robot’s empty weight isincreased to 800 kg, somewhat altering someof the performance parameters. The keyintervention from Nexter is the add-on C2suite, which includes differential GPS,odometer, magnetic compass, gyrometers,accelerometer and laser sensors fornavigation and a scanning laser for obstacledetection. The software developed allows,beside standard teleoperation mode,automated modes such as waypointsfollowing, path record and replay, follow me,etc. Delivered just before the Eurosatoryexhibition, the Robbox will start mobilitytests in September 2014. Nexter plans to startoperational evaluation tests in early 2015; theaim is first to verify the various autonomousmodes, in particular follow-me, as the French

DGA intends to use the Mule to develop theoperational doctrine for robot-equippedunits. Under investigation are thus advancedmodes that would allow the soldier to “ask”the robot to stop, wait, join the infantryteam, and so on, in order to provide a trulyeffective support to a ten-man combatgroup. Nexter aims at developing a multiroleground robot, meaning that a weaponisedversion already seems to be in the pipeline.

MBDA, on the other hand, was proposingthe Robbox in an M2R configuration, amulti-sensor platform for air defence. In thatconfiguration the Robbox is turned into anair defence system that can be deployed indominant positions without risking soldiers’lives. The M2R is equipped with an infraredsearch and track Spynel-X developed byHGH Infrared Systems of France to capturefull panoramic images at 120 Mpixresolution with a detection range of 16 km.Once the threat is detected and tracked bythe Spynel-X an optronic sensor with daycamera and thermal imager, equipped with ahefty zoom, provides positive identification.In Paris the robot was exhibited with a mast-mounted Flir Systems Ranger MS. Thosesensors can also be deployed to ensureground surveillance.

I ...AND RECCE AND FIRE SUPPORT PROVIDERSThe last few lines of the last paragraph havealready led us into a field that somewhatsteps beyond the pure logistical use of heavyground robots. Here is more on that theme.G-Nius: The company that has the longest

Sterela of France developed a 4x4 roboticplatform for airport use, and is now proposing itas a logistic platform for military applications.(Armada/Paolo Valpolini)

Sera of France developed a wheeled roboticplatform known as the Robbox consisting of two powered units and a central beam, seenhere in a sensor carrier version fitted by MBDA.(Armada/Paolo Valpolini)

Nexter adopted Sera’s Robbox as the base for its mule concept, a weaponised version beingapparently also considered. (Armada/Paolo Valpolini)



30

field experience in heavy patrol and armedrobots is certainly G-Nius, the Israeli jointventure between Elbit Systems and IsraelAerospace Industries. Its first Guardium,later renamed Guardium Mk.1, enteredservice in 2007. Based on a Tomcar all-terrain vehicle chassis, theMk.1was logicallyfollowed by the Mk.2, based on a chassis ofthe same origin but with a 400 kg payloadcapacity,which gave it amule role. TheMk.3followed, based on a Ford F-350 pick-up.The originalGuardium is still used to patroltheBenGurionairport inTelAviv, the IsraeliDefence Forces having acquired numerousG-Nius robots.The Robbox can climb a 40% slope and

overcome 250mm vertical obstacles. Its topspeed in remotely controlled mode is 40km/h. In full diesel mode its autonomyreaches 300 km, dropping to eight km/h infull electric mode. Sera Ingégnerie deliversthe Robbox with three different levels ofcommand and control suite, from the verybasic including only actuators, to a mediumversion with a data link, six cameras and acommandconsole, to specific configurations,developed with third partners. Two of thosepartners, Nexter and MBDA, exhibited theRobbox in two different configurations atEurosatory.

Amore combat-oriented development isthe AvantGuard, based on a Dumur Tagsvehicle (Tactical Amphibious GroundSupport), a 1.75-tonne, four-track chassispowered by a Kubota 100 hp turbodieselengine providing a maximum speed of 20km/h.The four tracks, each 0.91metres longand 0.42 metres wide, ensure a low specificgroundpressure andoptimalmobility.Witha one-tonne load-carrying capacity varioustypes ofmodules can be installed, includingremotely controlled weapon stations. Thisrobotwas renamedAvantGuardMk.1whenaMk2, based on theM113,was developed.Overall, during the past seven years G-

Nius robots operated for more than 60,000hours providing the company withinvaluable feedback. The latest platform,unveiledatEurosatory2014, is basedona4x4chassis featuring twopowerunits, oneat eachend. These can be diesel or electric, enablingthe vehicle to become a hybrid, hence theHybridMultipurpose Vehicle (HMV) name

assigned byG-Nius to its latest product. Theprototype was equipped with a mast-mountedoptronic suite andanElbit Systemsweaponstation.While the firstG-Nius robotswere equipped with dedicated systems, theIsraeli company has now developed aplatform-agnostic appliqué kit that will bedescribed in the appropriate section.Qinetiq: Thanks to contracts with variousdefence agencies, including the Socom, andwith a significant company internalinvestment Quinetiq developed the ModularAdvanced Armed Robotic System, or Maars,which is an armed version of its intelligence,surveillance, target acquisition, andreconnaissance robot. Tracked and poweredby electric motors, it weighs 165 kg incombat order and speeds up to 7 km/h. It is in fact a small combat vehicle in its

own right with a turret armed with a 7.62x51mm M240B machine gun with 450 roundsand with a quadruple 40 mm grenadelauncher based on the M203. These areindividually selectable and can fire lethalgrenades such as high explosive, highexplosive dual purpose or airburst HE, as wellas less-lethal grenades such as sponge,buckshot, tear gas, smoke, star clusters orillumination. Escalation of force can startfrom non-lethal options, such as voicemessages sent through the two-way hailerwhich also includes a 120 dB siren, as well as agreen laser warning device capable to warnor dazzle a potential threat. The turret canrotate on 360° at a speed of 155°/s, elevationarc being –20°/+60°. A 360° view is providedby a gimbal-mounted suite that includes ax12 digital zoom 75° field-of-view daycamera and a x2 digital zoom thermal 36°field-of-view 320 x 240 resolution camera.This being the equivalent of the commander’spanoramic periscope on a tank, the“gunner’s” sights are mounted coaxially to themachine gun and come in the form of a daycamera with a x26 optical zoom and a x12digital zoom, a 640 x 480 thermal camerawith 47° FoV and x4 digital zoom ensuringsighting at night or in difficult conditions; alaser rangefinder provides target range to befed into the fire control system.A shotgun detection system can be added

to provide cueing for the fire control system.The “pilot” can rely on front and rear 95°field-of-view day/night cameras. Operatingtime varies from three to twelve hoursdepending on the mission, an integratedsleep mode allowing to save battery powerextending autonomy up to a week. The Maarscan be operated with QinetiQ’s Tactical

G-Nius Guardium Mk1 has been in service foryears to provide security along the Tel Aviv BenGurion airport perimeter. (G-Nius)

G-Nius Guardian Mk2 features a cargo areathat can carry up to 400 kg of supplies, whichallows to use it in a mule role. (G-Nius)

The Hybrid Multipurpose Vehicle (HMV) is the latest iteration of the G-Nius line of robotsand was unveiled at Eurosatory 2014.(Armada/Paolo Valpolini)

Based on the Dumurs Tactical AmphibiousGround Support vehicle G-Nius AvantGuardMk1 is shown here with an Elbit Systems RCWS. (G-Nius)



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Robotic Controller, which is common tomost of the company’s robots, or via aToughbookLaptopController.The system isalways controlled by an operator, who caninstantaneously shut off power through adedicatedbuttonon thehandcontroller. FiveMaars are currently being tested by the USMarineCorps,which iswriting theTechnicaland Tactical Procedures based on theexperience which is being acquired. Inperspective QinetiQ is considering voicecommand to ease the operator’s burden.Northrop Grumman: Using the Camellogistic robot as a starting point, NorthropGrumman developed a weaponised platformknown as Madss (Mobile Armed DismountSupport System). Thanks to its considerablepayload capacity the platform is able towithstand medium calibre weapons, in thiscase a machine gun like the M240B 7.62x51mounted on a remotely controlled weaponstation. Alternatives such as the MK-19 40mm automatic grenade launcher, the M2heavy machine gun, the M249 light machine

gun, as well as 25 and 30 mm low-recoilcannons are proposed. Less-than-lethalsystems, such as the FN Herstal FN303 canalso be installed.Gate Elektronik: Among heavy robots, theRobas developed by Gate Elektronik ofTurkey, has a quite peculiar architecture. Itfeatures four short tracks, each powered byan electric motor linked to a sprocket, anidler fixed to a strut providing the adequatetension for the track. What is peculiar is thata motor allows to rotate each track to changeits angle of attack to provide optimal stairclimbing capacities as well as obstacleoverjump, the Robas being able to overcomean 800 mm obstacle.

Batteries ensure a four-hour autonomywith a maximum range of 25 km whilemaximum speed is 10 km/h. Operationalrange from the control console is onekilometre. The robot’s empty weight is 250kg, the Robas being able to carry payloads of150 kg; this allows to install different types ofsystems, such as stabilised weapon platforms,gimballed optronic sensors, land surveillanceradars, mine detection kits, jammers, etc.Oto Melara: While its small TRP3 NEC isaimed at infantry units, Oto Melara’s TRP2was designed as a heavier and more capablesystem to increase the ISTAR arm of theItalian Army cavalry units. However thesituation in Afghanistan, with the increasedrisks for soldiers ensuring security toforward operating bases, has led to an urgentrequirement for an armed robot to patrolsuch base perimeters. The TRP2 FOB (alsoknown as TRP2 Combat) was thusdeveloped from an existing platform thatalready embedded most of the necessaryfeatures such as its ability to be disassembledinto in man-portable modules. It uses atracked chassis powered by electric brushlessmotors, capable to reach 15 km/h, itsLithium-ion batteries ensuring a four-hourendurance. In addition to a INS/GPS fit, afirst autonomous navigation module hasbeen installed to include obstacle avoidanceand thereby considerably reduce operatorworkload, though it becomes vital whenwaypoint-navigation is adopted. To improve stair climbing capabilities,

track length was increased compared to theearlier prototype, and a robust tail added.The system is operated by means of amodular control unit made of a joy-pad, acommunication box and a ruggedised PC.The operator in the loop not only controlsthe robot movements, but more importantly

is responsible for firing the on-boardweapons, typically a Beretta ARX160 5.56mm assault rifle or an FN Minimi lightmachine gun of the same calibre, or a BerettaGLX160 single shot 40 mm grenadelauncher. At the rear of the robot a mastcarries the pan-tilt-zoom camera used fortarget acquisition as well as a fixed wide-angle camera that provides the operator withthe image of the terrain ahead as well as aportion of the forward part of the robot itself.Narrow field of view sighting optronics areinstalled over the weapons cradle with on theleft a day camera, and a DRS Technologiesuncooled thermal camera on the right. The system has been thoroughly tested at

the Army range in Nettuno, and over 3,000small calibre rounds and 100 grenadeshaving been fired. The TRP2 FOB isequipped with a remote cocking device forthe automatic weapon, which allows therobot to leave the base totally safe, the firstround being chambered only when theoperation area is reached. As for mobility therobot logged a considerable amount ofkilometres; fording capabilities were tested,and an operational range of over onekilometre was demonstrated. Oto Melara hasorganised two courses to qualify 40instructors. Eight such robots have beenordered by the Italian Army and two of themhave been delivered since type qualification ispending. Preliminary technical clearance

The Mobile Armed Dismount Support System or MADSS is the weaponised version of theCamel, seen here in detail and during firingtrials. (Northrop Grumman)

Oto Melaras TRP2 FOB armed robotic platforms are close to obtain their qualificationbut might miss the timing for an Afghandeployment. (Armada/Paolo Valpolini)

Gate Elektronik of Turkey developed the Robas,which is fitted with four tiltable tracks to ensuregood stair climbing and obstacle crossingcapabilities. (Armada/Paolo Valpolini)



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was expected in late July, following whichone system would be delivered tooperational units for testing, and a secondfor completion of electro-magneticcompatibility tests. Considering that theItalian contingent will soon leaveAfghanistan, it looks unlikely that theTRP2FOBwill see deployment there.

The TRP2 RISTA (for Reconnaissance,Intelligence, Surveillance and TargetAcquisition), also known as TRP2 Cavalry,has quite a different chassis. It features aninverted trapeze track that ensures good stairclimbing capacity. Due to its peculiarreconnaissance role it can be disassembledin backpackable modules of less than 20 kg,which partly frees it from the need to betransported by a vehicle to its starting point.Maximum combat weight is around 90 kgand speed 15 km/h on flat terrain. Thepayload comes in the formof a SelexESMiniColibri that can be elevated by a pantographarm. The Sensor suite includes an uncooled320x240 pixel thermal camera with a 4.6°field of view, a daylight super-HAD camerawith a 2.4° to a 46° field of view zoom, andan eye-safe laser rangefinderwith a range of4,000 metres. The arm can rotate ± 180°while the sensor headhas an elevation arc of± 40°. This robotwill provide the close rangereconnaissance capability to the FrecciaExplorer, the version of the 8x8 that will

equip Italian Army reconnaissance units.Longer range recce duties are entrusted totheHorus, theOtoMelara drone that can belaunched froma120mmgunbarrel or froma light tube of the same calibre, as installedon the Freccia recce version.

Oto Melara is also developing the TRP2HD for Heavy Duty – around 300 kg with a100 kg payload capacity – with a view toreplacing current explosive device disposalsystems used in the ItalianArmed Forces. Aweaponised version of theHDmodelmightbe armed with a heavier calibre weapon, a7.62 mm machine gun or other weapon

systems. The TRP2 HD is being partiallydeveloped with Ministry for EconomicalDevelopment funds asnon-military versionsare also envisaged.Tecdron: In the heavy ground robotscategory, Tecdron of France proposes a trio ofsystems, the first one being the Cayman thathas a quite peculiar architecture, as it featuresfour crawler tracks, each powered by anelectric motor. When folded along thevehicle chassis, made of aeronautic-gradealloy according to company tradition, thetwo rear tracks are along the body while thetwo front ones fold along the inner tracks.Two motors installed in the chassis allow torotate the track units to allow stair climbing.The peculiar tracked solution allows optimalmobility, the Cayman being able to cope with55° slopes and to move on 50° side slopes.Maximum speed is 6-8 km/h. Waterproof toone metre and treated against corrosion, therobot weighs 26 kg and can carry a payload of20 kg. Extra payloads can either beingintegrated by Tecdron or by the customer, aplug and play interface being currentlyunder development.

Standard sensors include a front wide-angle camera with diode lighting and amicrophone; however, to improve visibility asecond camera mounted on a shortswivelling arm is being integrated (arm andcamera are parked within the body but raiseat about 350 mm from the ground in use).A data link provides a line of sightoperational range of one kilometre (300metres in urban areas). The operator useseither a mini console with a 7-inch screen ora ruggedised notebook. The Li-ion 12 volts

A detailed view of the TRP2 FOB armament, consisting a 5.56 mm automatic weapon and a one-shot 40 mm grenade launcher. (Armada/Paolo Valpolini)

Although it retains the TRP2 designation, theTRP2 Rista has a wholly different chassiscompared to the TRP2 FOB; it carries a SelexES Mini Colibri sensor package.(Armada/Paolo Valpolini)

Tecrdon’s Cayman features four swingingtracks that allow it to overcome complexobstacles, while its architecture allows toreduce considerably its size in transportconfiguration. (Tecdron)



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20 A/h battery ensures three hoursendurance, though a secondonewill doublethat. Numerous payloads are proposed byTecdron, such a three-axis video turret witha x36 zoom camera, a thermographicvideocamera, a laser rangefinder, gassensors, etc. It made its public début atEurosatory 2014, but feedback alreadyacquired from potential users is leading tothe latest development iteration.Thewheeled equivalent of theCayman in

the Tecdron portfolio is the Quator, a 29 kg4x4 with 260 mm diameter wheels offeringmobility performances that are a notchbelow those of its tracked stablemate, butable to cope with a 45° climb and a 40° sideslope. It can climb over 200 mm highobstacles. It features the same sensors,although a second camera is installed at therear. The battery has a larger capacity, a 24volts 30 A/h Li-ion, yielding four hours ofuse. TheQuator can carry a payload of up to50kg, and towa four-wheel trailerwith a 100kg load. A clamp allows to hook up to thetrailer with the help of the rear camera. TheQuator is equipped with the same data linkand can carry the same payloads as theCayman. It is fully industrialised and theFrenchArmy is amongst its users. A track isbeingdeveloped for theQuator anda roboticarm is also among systems that are in finaldevelopment stage.The champion of Tecdron’s robots is the

4x4QuatorXL. Although thename is similarto thatof theprevious system, theXLsuffix is

justified by its 260 kilos and ability to carry a500kg load. Itsprime task is tocarry the loadsof soldiers on foot, but it can carry recceequipment for instance. Each 390 mmdiameter wheel is powered by a 1,500 Welectric motor which multiplied by fourprovides a good pull and the ability to climb40° slopes and cross 35° side-slopes. Verticalobstacleclearance is300mmwhilemaximumspeed is 15 km/h.Remote operation remainsone kilometre though the Quator XL will beendowedwith a self-autonomy system that isstill in the evolution phase. It has the typicalfeatures of Tecdron’s robots in terms ofconstruction materials, sensors and man-machine interfaces. The Quator XL is a fullydevelopedproduct, Tecrdonhowever testingnew options for tyres to further improvemobilityon specific terrains.For very difficult terrain Tecdron

proposes the Scarab LX, a 215 kg trackedsystem, with a 200 kg payload able toovercome 400 mm vertical obstacles. Alsosuitable for reconnaissance missions, thisrobot seems however particularly useful forbomb disposal operations and short-rangeinspection in hazardous areas.Jordan Electronic Logistic Support: As itsmanufacturer’s name implies, the trackedLynx proposed as a multirole platform wasdeveloped in Jordan. The chassis weighs 120kg and is powered by two electric motors.Two driving CCD colour cameras areinstalled, one at the front and one at the rear.Numerous payloads are proposed, including

a robotic arm, disruptors, a fork-lift, ajammer, a pan-tilt-zoom camera with x26optical and x12 digital zooms. In its bombdisposal guise the robot is known as Lynx-E/J; the Lynx-C is the combat configuration,equipped with a remotely controlled stationthat can be armed with an M16 rifle, a 7.62mm machine gun or a rocket-propelledgrenade launcher. The Lynx is part of Jordan’sJels soldier modernisation programme andis designed to be integrated in the system’sC4I structure.KADDB: Another Jordanian company,KADDB unveiled a new Multi-FunctionalRobot (MFR) at Sofex 2014 – a 6x6 with eachwheel individually powered by its ownmotor. The front and rear wheels protrudefrom the chassis, which de facto allows 90°obstacles to be engaged. The MFR can drivethrough a 150 mm ford, cross a 450 mm-wide ditch, and reach 12 km/h (creepingspeed being 2 km/h). Batteries provide twoto three hours of endurance. With two

driving cameras, one in front and one at therear, and with a two-way audio system withmicrophone and loudspeaker, the MFR canbe fitted with numerous payloads. At the exhibition it was shown in combat

guise with a turreted system. A brochure saysthat range is 800 metres although companyofficials talked about two kilometres. Theturret was fitted with an optronic sightingcamera that provides the operator with asize-comparison distance measurement

KADDB of Jordan developed a series of groundrobots of different weights. Seen here is theMFR displayed at SOFEX 2014 armed with tworocket launchers. (Armada/Paolo Valpolini)

When used together withits trailer Tecdron’s Quator

can carry a payload of 150 kg, a considerable

performance for a 29 kgplatform. (Tecdron)



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system, shapes of aman, a small vehicle, a bigvehicle and a building being available toestimatedistance, thus avoiding theneedof alaser rangefinder. The turretwas armedwithtwo RPG-32 Hashim rocket launchers, aRussia and Jordan co-development. Firing ispiezoelectric and ensures 200 firings.A 7.62mmmachine gun can be added. The MFRwas very much at a prototype stage. It isunclear if this newground robot replaces therobot that has been shown in the past.Russian Army: Russia has recently unveiledan armed robot that is being deployed by theStrategic Missile Forces to increase security ofthose assets. Known as the MRK-002-BG-57it is based on a tracked vehicle, the wholesystem weighing some 1,100 kg. With noparticular company identified as itsdeveloper, it is apparently powered by ahybrid system with a 250 km range, amaximum speed of 35 km/hour and a ten-hour endurance. The powerpack is locatedat the back, and stabilised remotelycontrolled weapon station is mounted in thecentre of the vehicle.

According to Russian sources the robot isable to aim, track and hit targets both inautomatic and semi-automatic modes. Theturret is equipped with a day camera, athermal camera, a laser rangefinder and aballistic computer, a radar sensor beingavailable for long-range surveillance.Driving cameras are also installed on thechassis. Different types of weapons can beinstalled, a Kalashnikov 7.62x39 mm assaultrifle with 500 rounds, or a 12.7 mm machinegun with 30 rounds, or a 30 mm automaticgrenade launcher, either an AG-17A or anAG-30. The data link has a line of sight rangeof five kilometres.

To improve the security of its Strategic MissileForces, Russia developed an armed trackedrobotic platform known as MRK-002-BG-57armed with a heavy machine gun

The extra advantage of such systems isthat not only are they transferable fromone vehicle to another, they will

eventually be so cheap that the “controlinjection” system per se will be able toremain in place and simply be switched offto restore the conventional use of the vehicle.Oshkosh: If an American manufacturer oflarge vehicles were to be tagged as one of theleaders in the field of heavy robotised vehiclesthat would definitely be Oshkosh Defense. Itstarted developing the TerraMax robotictechnology in the early 2000 under a Darpa

solicitation. Following years of developmentand refining, in August 2012 the US MarineCorps Warfighting Lab and OshkoshDefense applied the TerraMax technology totest a convoy that included five normal andtwo uninhabited vehicles. The latter travelledin full autonomous mode albeit under themonitoring of an operator equipped with aremote-control unit. While the companyremains committed to the US Office of NavalResearch Cargo UGV project, which seeks tobring robotic capabilities to logistics convoymissions to help reduce troops’ exposure to

Robots At the Wheel!Electronically controlled automatic gearboxes,electronically actuated throttles, plus electrically controlledpower steering systems that are now increasingly astandard fit on modern vehicles come as a real gift fromthe sky to robotics developers. Indeed command signalscan now more easily be injected directly into thosevehicles’ existing processing units meaning that thecumbersome actuators hitherto required can gradually besent to the breakers.

The roller-equipped M-ATV demonstrated by Oshkosh at Eurosatory 2014 is equipped with the company Terramax robotic suite, the sensors of which are visible in the lower rightcorner of the picture. (Armada/Paolo Valpolini)



threats, Oshkosh is also looking at otherapplications for its TerraMax, which isconstantly beingupgraded.At AUVSI 2014 and Eurosatory 2014

Oshkosh exhibited a company M-ATVequipped with a Humanistic Robotics routeclearance roller capable to work in fullautonomy.Vehicledynamicswereadapted tothe roller, and Oshkosh will carry onexperimentations for thenext coupleof yearson route clearance operations. Thedemonstrator shown in Paris was equippedwith a roof-mounted lidar. This is regardedasaprimesensorandisparticularlyefficient industconditions,assistingtheradars installedateachcornerof thevehicle,while electro-opticsensors areused toallow theoperator tohavea clear view of the situation. The upgradesconsistedmostly in theadoptionofanewandfaster computer able to cope with a highersensor resolutions required for increasedperception of the vehicle’s surroundings,which includes detecting obstacles in dust orvegetation and in turn allow the vehicle tomove faster (exactly like amotorist is able todrive faster at night if given more powerfulheadlights). The new kit features an openarchitecture, improving theTerraMax’sabilityto acceptnew typesof sensors.Lockheed Martin: Fort Hood, Texas, 14January 2014: a convoy made of four vehicles,two Palletized Loading System prime movers,an M915 tractor trailer truck, and a Humveegun escort vehicle cross the “fake town”negotiating all manner of obstacles includinglocal traffic, pedestrians and so forth. Whatmade the event exceptional was that, with theexception of the Humvee, all convoy vehicleswere unmanned – literally. They wereequipped with the Autonomous MobilityAppliqué System (Amas) developed byLockheed Martin following a contractreceived in October 2012. The aim was todevelop a multi-platform kit integrating low-

cost sensors and control systems that could beinstalled on US Army and Marine Corpsvehicles, reducing driver’s workload orproviding full automated driving undersupervision. The vehicle maintains thecapacity to be manually driven but addssensors and control functions that alert thedriver when a danger occurs. According to USmilitary statistics, most accidents in convoysare caused by fatigue and loss of concentration.The Amas is part of the Convoy Active SafetyTechnology (Cast) programme, for whichLockheed Martin experience acquired withthe SMSS robot was put to good use. Keysensors remain the GPS, the lidar and theradar, together with the control system thatprovides artificial intelligence and decision-making capabilities. A second series ofdemonstrations tests were completed in June2014 at the Department of Energy’s SavannahRiver Site in South Carolina.These involved a completely unmanned

leader vehicle followed by a convoy of up tosix additional fully autonomous followersoperating at speeds of up to 65 km/h, allequipped with the Amas (the test alsodoubled the length of the convoys). Allvehicles were medium and heavy trucks andconsisted of one FMTV, one MTVR, two

PLS, two M915 tractors and one HET. Attime of writing further safety tests werescheduled for July 2014 followed by anoperational demonstration in the July-August 2014 timeframe.Mira: In Britain Mira is specialised inadvanced vehicle and systems technologies,with robotics being amongst them. Thecompany has developed the Mace (MiraAutonomous Control Equipment), aplatform-agnostic suite that can be integratedvirtually on any ground platform to provide amodular level of autonomy, remote, semi-autonomous or fully-autonomous, depending

on customers’ needs. The Mace has beenintegrated into different vehicles to show thesystems’ potential applications (Sherpa andLand Rover based solutions focused onlogistic support for dismounted infantry, whilea Guardsman- equipped vehicle acted as asafety perimeter awareness 4x4 platform).The one system currently in use is the one

known as “Project Panama” which acts as anunmanned route-proving and clearingsystem. In service since 2011 in Afghanistan,the system is used for bomb detection and isbased on a Snatch Land Rover (SN2). ThePanama vehicle is used both in tele-operatedand autonomous modes, at a range of up to 20km to maximise personnel safety. In mid-June 2014 the British Army announced thatthe Panama will be retained in service until2030, with Mira ensuring furtherdevelopment of its MACE technologyplatform. At AUVSI Mira illustrated its roadedge detection capabilities highlighting theuse of vision detection following years of useof lidars and radars. This is not only due tocost considerations – a vision detectionsystem costing an order of magnitude less

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A close-up view on the all-so-important roof mounted sensors of the Terramax to provide thesystem with a clear view of what is lying ahead of “him”, but which makes one wonder why thewindscreen needs to be kept so clean! (Armada/Paolo Valpolini)

The Autonomous Mobility Appliqué Systemwas developed by Lockheed Martin as part ofthe Convoy Active Safety Technologyprogramme. (Lockheed Martin)

Mace is a platform-agnostic robotic suitedeveloped by Mira and deployed inAfghanistan on unmanned roadside bombdetection Land Rovers. (Mira)



than a lidar – but also because such furthertypes of sensors can be used to feedadditional data into the system and therebyimprove reliability and accuracy.Ruag: In Switzerland Ruag Defence is alsoworking on a kit that transforms existingvehicles into supervised autonomy vehicles.Known as the Vero (Vehicle Robotics) it wasfirst shown in fall 2012 installed on board aGDELS Eagle 4 light armoured vehicle.Demonstrated at Eurosatory 2014 in remote-controlled mode, the system is also capable offollowing a pre-planned route designed withsuccessive waypoints. Compared to thevehicle seen in 2012, which worked only intele-operated mode, the one seen in Paris hasa suite of obstacle avoidance sensors at thefront: two lidars are located on the right andleft sides of the bumper (but will eventually bemoved on the bonnet to reduce dustdisturbances), and a radar is installed in thecentre of the bumper with what was termed “aspecial optic sensor” on its right. According to Ruag Defence a few more

months of testing are needed to qualify bothsoftware and hardware. The Vero is currentlybeing integrated on two more militaryvehicles, the model of which was not unveiled,while in 2015 it will be installed on a purerobotic vehicle with a mass of around threetonnes, though the choice between tracks and

wheels has not yet been made. Ruag is indiscussion with partners and has still todecide if it will install its Vero on an existingplatform or on a purposely developed one.Torc Robotics: A specialist in roboticsolutions in the military, mining, agriculturaland engineering worlds, this Americancompany is now working on the US MarineCorps Ground Unmanned Support Surrogate(Guss) programme. Torc Robotics has beeninvolved since 2010 in the development of a

light vehicle capable to autonomouslyresupply troops in combat, carry the load of aMarines team or perform casualtyevacuation. Using its robotics modules, TorcRobotics transformed four Polaris MVRS7006x6s into robotised vehicles able to carry apayload of around 900 kg.The AutoNav module is the key element

that allows to robotise the vehicle allowingthree different modes of operation:waypointnavigation, follow-me and tele-operation.The interface is the WaySight, a handheldunit that allows the operator to choose themode of operation and control or supervisethe vehicle. The technology was thenimproved and migrated onto an M1161Growler, the vehicle selected by the USMarine Corps to fit inside the V-22 Osprey– the programme being known as GussAITV (Autonomous InternallyTransportable vehicle). The sensor suiteincludes an inertial navigation system,cameras and lidar. It has been put to test forthe first time in a real exercise duringRimpac 2014 in Hawaii last June, showing itsusefulness in speeding up casevac operationsand by lightening the Marines burden. Theneed of some technological improvementshas been identified. The company appliquésystem has also been used to develop theRobotic Assault Zone Terminal EvaluationKit able to perform the environmentalassessment of potential air assault landingstrips to reducing risks to Special TacticsSurveyor Teams. It draws on many of thetechnologies developed for the Guss and isbased on a Polaris LTATV equipped with aMosquito soil sampling device from MDA.Polaris vehicles have been recently

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Ruag of Switzerland is working on its Vero programme that currently uses a GDELS Eagle 4 (top). Part of the sensors are roof-mounted (bottom, left) while others aremounted on the bumper. (Armada/Paolo Valpolini)

The Torc Robotics GroundUnmanned SupportSurrogate was developed ona Polaris MVRS700 6x6chassis. (Torc Robotics)



selected by the Darpa to participate in aRoboticsChallenge simulatingdisaster reliefscenarios. Polaris Ranger XP 900 EPSvehicles were built to accommodate robotdrivers and provide mobility at the mockdisaster site and customised with a remoteSafeStop Electronic Throttle Kill and BrakeActuation technology. A 453-kg capacitybed provided space for the robot’s powersupply, and inside the cab the bench seat andtilt steering provide ample room for robotsto operate the vehicle.Kairos Autonomi: Why not replace thedriver with a mechanical structuremimicking the human structure? KairosAutonomi engineers followed that path

giving birth to Pronto4 Uomo, a roboticappliqué kit that can be installed in anunmodified vehicle in about ten minutes toprovide tele-operation and GPS path-following control. Unveiled in 2013, thesystem weighs only 25 kg and is contained ina briefcase. The structure is made of metaland mimics the human behaviour, with two“feet” activating the brake and throttlepedals, while an arm on universal jointscontrols the steering unit. The system can bepowered by a standard BA5590 militarybattery, and by not requiring power from thevehicle itself reduces installation time. Selex ES has now frozen the

configuration, the final prototype beingexpected for Fall 2014. The current Acme,

which is fully military export licence-free(Itar), should be ready for production inearly 2015, Selex ES being already in talkswith numerous potential customers. Thedriving interface is installable in 30 minutesto one hour. The carbon fibre version of thesteering system weighs seven kilos asopposed to 12 kg for the steel counterpart.The 28Nm torque stepping motor rotatesfrom 18 to 180 rpm. Navigation sensorsincludes a QinetiQ Canada jam-proof GPSwith two antennae working on seven bands(the Acme is Galileo- and Glonass-compatible) as well as a solid-state inertialmeasurement unit with a 0.5% drift per hour(the latter for use when the GPS signal is lost,usually for a short time). A roof-mountedlaser scanner provides collision avoidance.Tipping the scales at 60 kilos, the systemoffers an automatic mode maximum speedof 40 km/h and in tele-operated mode thecompany advises not to exceed 100 km/h. Itshould be noted though that the Acme mustalways remain under the supervision of anoperator. It is capable of repeating apredetermined path with a two-centimetreaccuracy, this within a speed variation ofunder 0.5 km/h. The throttle stepping motorprovides a 14 kg force with a velocity of 300mm/s. A pneumatic system is used both forclutch and brake actuators, generating a 60kg force with a 300 mm/sec velocity. Newgeo-referenced maps can be used. Aruggedised joy-pad has been readied sinceSelex ES has decided to move to a game-typecontrol system that would be more familiarwith young soldiers. Selex ES is currentlyworking on image stitching software toprovide all-round vision, which willeventually feed a 3-D helmet for remotedriving, possibly by late 2015.Oto Melara: Also from Italy, Oto Melaraproposes an appliqué system that wasoriginally developed for civil purposes. Theremote-control kit includes a number ofactuators able to move the steering wheel,the pedals and other controls. The systemcan be installed and removed in about onehour, but Oto Melara is now working on newcapabilities to answer the “intelligentconvoy” requirement. G-Nius: In addition to the robotic vehiclesexamined earlier, G-Nius of Israel hasdeveloped a new robotic suite that allows totransform any ground platform into anuninhabited device, with obviousmechanical variations to suit individualvehicle designs. While the previous G-Niusinstallation was made of numerous black

37

Torc Robotics exploited the experience acquired with the Guss programme to robotise theOsprey-transportable US Marine Corps M1161. The resultant Guss AITV was demonstrated atthe Rimpac 2014 exercise. (Torc Robotics)

Polaris Defense increasingly thinks“robotisation” when designing its vehicles. ItsRanger XP 900 EPS was selected by Darpa totake part in a robotics challenge simulating adisaster relief operation. (Polaris Defense)

Kairos Pronto4 Uomo definitely is the appliquésystem that mostly resembles a human being,which allows it to be installed in a matter of minutes at the wheel of an unmodifiedvehicle. (Kairos Autonomi)



38

ARMADA DIGITAL C4AUSA C3NEXTER 7

TUS EXPO 11UMEX C2

I INDEX TO ADVERTISERS

From throwablesto trucks

LandRobots

ON THE COVER: Contrary to its sea-going andairborne counterparts, the land robot has to fight itsway around many more obstacles that may get acrossits paths. Ironically, the smaller robots can be thrownaround, like this Nexter Nerva LG. The larger ones stillhave to turn around a tree, but might one day be ableto zap it out of their way.

boxes, the new product fits into a single boxthat contains the mission computer, thenavigationunit, the video-audio system, andthe power distributionunit.

The Kairos Autonomi catalogue alsocontains amore traditional appliqué system,the Pronto 4, a modular system that canrobotise a normal vehicle with a degree ofautomation that ranges between tele-operation and semi-autonomy. Itsinstallation requires less than fourhours, thePronto 4 being a series of modules, amongwhich the brain is the computer module,while steering ring, actuators for brake,throttle and transmission allow to interfacethe system with the vehicle. The system isavailable in various configurations, theoverall weight being around 10 kg.Selex ES:This company has called on Milan-based Hi-Tec for assistance in its effort toreduce risk-exposed patrol personnel byrobotising fleet vehicles (whenever possible)and particularly the lesser armoured, and

thereby, the cheaper ones. In the resultantAcme (with Automated ComputerisedMobility Equipment replacing the originalGreek word for “highest point”) Hi-Tecprovides actuators, navigation systems,processing and software while Selex suppliesnarrow-field and 360° infrared and dayvision systems, infrared lighting, systemsanalysis of sensory data and simulators.

Standard sensors include a day-and-nightthermal uncooled camera, rear and sidecameras, and a communication system; anobstacle avoidance system can be added. Thesystem allows four different modes ofautonomous operations. Line-of-sightoperation range is of 20 km, but satcom can beused for longer ranges. The robotic suite ispayload-agnostic, thus all sorts of payloads,from reconnaissance and jammers toweapons, can be linked to the system. G-Niusis proposing its suite for numerous types ofplatforms, from light wheeled vehicles totracked infantry fighting vehicles.

Selex ES Automated Computerised MobilityEquipment has been recently upgraded withnew sensors, the company being also busy in developing new man-machine interfaces.(Armada/Paolo Valpolini)

Drawing on considerable experience acquired with, notably, the Guardium series, G-Nius of Israel has developed a robotic suitethat allows to transform any ground platforminto an unmanned system, the “brain” ofwhich is seen here. (G-Nius)

Compendium Ground RoboticsSupplement to Issue 5/2014Volume 38, Issue No. 5, October-November 2014

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