Abstract
We had developed FRIGO-D as a basic track robotic unit for research and development, especially for fire fighting and rescue robots. Some fire departments interested in our development, and requested that they needed to use FRIGO-D in an actual activity. However, FRIGO-D doesn't have enough performance for actual activities. Then, we developed FRIGO-M of heavy-duty FRIGO-D for actual fire fighting and rescue activities. After that, we had trial deployments of FRIGO-M for some fire departments. The fire departments checked FRIGO-M performance from the point of view that they use FRIGO-M in actual activities. We improved FRIGO-M's weak points based on their reports. Now, FRIGO-M is one of the useful track robotic units for actual fire fighting and rescue activities.
