1.1 目的: 1.1.1 作为一套移动性测试方法的一部分，本测试方法的目的是定量评估遥操作地面机器人的牵引能力，其任务是抓取负载并在平坦铺砌的表面上穿越指定路线。 1.1.2 机器人应具备一定的移动能力，包括牵引能力，以适应紧急响应等关键操作。需要这种能力来执行与应急响应相关的任务，如运送关键物资、将受害者转移到安全地点或将可疑包裹运走。 1.1.3 应急地面机器人应能够处理多种障碍物和地形。所需的移动能力包括穿越缝隙、障碍、楼梯、斜坡、各种地板表面或地形以及受限通道。 然而，额外的机动性要求包括持续速度和牵引能力。需要标准测试方法来评估候选机器人是否满足这些要求。 1.1.4 ASTM任务组E54.08.01规定了移动性测试套件，该套件由一组测试方法组成，用于评估这些移动性要求。这种抓取牵引测试方法是机动性测试套件的一部分。与测试方法相关的设备以可重复的方式挑战特定的机器人能力，以便于比较不同的机器人模型以及类似机器人模型的特定配置。 1.1.5 测试方法量化了地面机器人应急响应应用所需的基本移动能力。因此，测试套件应共同用于表示地面机器人的整体移动性能。 注1: 预计将开发套件中的其他测试方法，以解决额外或高级机器人移动能力需求，包括新确定的需求，甚至是新的应用领域。 1.2 执行位置- 本试验方法应在试验实验室或实施规定仪器和环境条件的现场进行。 1.3 单位- 以国际单位制表示的数值应视为标准。括号中给出的值是英寸-磅单位的数学转换，仅供参考，不被视为标准值。 1.4 本标准并非旨在解决与其使用相关的所有安全问题（如有）。本标准的用户有责任在使用前制定适当的安全、健康和环境实践，并确定监管限制的适用性。 1.5 本国际标准是根据世界贸易组织技术性贸易壁垒（TBT）委员会发布的《关于制定国际标准、指南和建议的原则的决定》中确立的国际公认标准化原则制定的。 ====意义和用途====== 5.1 本试验方法符合美国应急响应者和其他组成部分规定的要求。机器人在该测试中的性能表明其在紧急响应等操作中所需的能力。将成功测试的机器人用于应急行动符合国家响应框架。 5.2 虽然这些测试方法首先是为应急响应机器人开发的，但它们可能适用于其他操作领域，如执法和军事。 它们还可用于确定操作员在培训期间的熟练程度，或作为练习机器人执行器、传感器和OCU的练习任务。 5.3 标准装置易于组装，以便于机器人开发人员对机器人进行自我评估，并便于应急响应人员和其他用户在应用机器人工具方面的熟练培训。 5.4 在应急响应操作中使用机器人的目的是提高应急响应人员在危险或难以到达的环境中操作的能力。候选机器人的测试结果应以具有统计意义的方式描述机器人穿越障碍物的可靠性，从而使应急响应人员能够确定机器人的适用性。

1.1 Purpose: 1.1.1 The purpose of this test method, as a part of a suite of mobility test methods, is to quantitatively evaluate a teleoperated ground robot’s towing capability with the task of grasping loads and traversing a specified route on a flat and paved surface. 1.1.2 Robots shall possess a certain set of mobility capabilities, including towing, to suit critical operations such as emergency responses. This capability would be required to perform such emergency response-related tasks as delivering critical supplies, moving victims to safe locations, or transporting suspected packages away from humans. 1.1.3 Emergency response ground robots shall be able to handle many types of obstacles and terrains. The required mobility capabilities include traversing gaps, hurdles, stairs, slopes, various types of floor surfaces or terrains, and confined passageways. Yet additional mobility requirements include sustained speeds and towing capabilities. Standard test methods are required to evaluate whether candidate robots meet these requirements. 1.1.4 ASTM Task Group E54.08.01 specifies a mobility test suite, which consists of a set of test methods for evaluating these mobility capability requirements. This towing-by-grasping test method is a part of the mobility test suite. The apparatuses associated with the test methods challenge specific robot capabilities in repeatable ways to facilitate comparison of different robot models as well as particular configurations of similar robot models. 1.1.5 The test methods quantify elemental mobility capabilities necessary for ground robot emergency response applications. As such, the test suite should be used collectively to represent a ground robot’s overall mobility performance. Note 1: Additional test methods within the suite are anticipated to be developed to address additional or advanced robotic mobility capability requirements, including newly identified requirements and even for new application domains. 1.2 Performing Location— This test method shall be performed in a testing laboratory or the field where the specified apparatus and environmental conditions are implemented. 1.3 Units— The values stated in SI units are to be regarded as the standard. The values given in parentheses are mathematical conversions to inch-pound units that are provided for information only and are not considered standard. 1.4 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use. 1.5 This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee. ====== Significance And Use ====== 5.1 This test method corresponds to the requirements as specified by U.S. emergency responders and additional constituents. A robot’s performance in this test is indicative of its capabilities needed in such operations as emergency responses. To have the successfully tested robots available to the emergency operations is consistent with the National Response Framework. 5.2 Although these test methods were developed first for emergency response robots, they may be applicable to other operational domains, such as law enforcement and military. They can also be used to ascertain operator proficiencies during training or serve as practice tasks that exercise robot actuators, sensors, and OCUs. 5.3 The standard apparatus is specified to be easily assembled to facilitate robotic developers’ self evaluation of the robots and facilitate the emergency responders’ and other users’ proficiency training in applying the robotic tools. 5.4 The objective of using robots in emergency response operations is to enhance the emergency responder’s capability of operating in hazardous or hard-to-reach environments. The testing results of the candidate robot shall describe, in a statistically significant way, how reliably the robot is able to traverse the obstacle, thus enabling emergency responders to determine the applicability of the robot.