In this study a prototype of USAR robots system is developed with wheeled and legged motion that can be applied as a searching robot for victims natural disasters or victims of the ruins. The task of this robot is to locate the presence of victims in the ruins of buildings that are difficult to reach by humans so as to facilitate the rescue team to find out the existence of the victim.
The shape of the robot in this final project consists of three cubes, which each cube is associated with the arm. For the wheels, each box consists of eight wheels where each side consists of four wheels which are connected to the timing belt.
Robot mechanical system has ten degrees of freedom that are designed to be able to pass a few fields, including fields of irregular rubble, stairs field, the field sloped derivatives, field slope and field-gap. For movement system, this robot can move like a robot on wheels, but also can move using legs with the use of the joints, which can move a side, movement can be like an animal such as crab movement, and for simulation is conducted using Webots simulator software
This robot uses geared DC motors, power window DC motors as an actuator, ultrasonic range finder, magnetic compass, Co2 sensor, voice sensor and thermals sensors. This robot is controlled remotely with a joystick and can also move autonoumusly, for visualization it use a wireless camera that is communicated through a computer device.
Keywords: USAR robots, Webots, Robot Victim Search
