Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Maneuvering and Mobility Tests

Ground Robots

Sub Committee Chair:

Adam Jacoff

Intelligent Systems Division

National Institute of Standards and Technology

U.S. Department of Commerce

Committee Chair:

Phil Mattson

Science and Technology Directorate 

U.S. Department of Homeland Security

Internet

RobotTestMethods.nist.gov

Adam	Jacoff

Intelligent	Systems	Division

NATIONAL	INSTITUTE	OF	STANDARDS	AND	TECHNOLOGY

U.S.	Department	of	Commerce

Email

RobotTestMethods@nist.gov

1

Version 2021A
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov Standard Test Methods for Response 

ASTM International Standards Committee on Homeland Sec

Response Robots (E54.09) | Website: RobotTestMeth

ROPE OR LINE 24 M (80 FT)

3 M (10 FT)

3 M (10 FT)

1.2 M 

(4 FT)

OVERALL DISTANCE 30 M (100 FT)

START 

END

Sustain Speed

MANEUVERING

APPARATUS SCALE 

LAP DISTANCE 60 M (200 FT) 

S

CARRY CRATE WEIGHT

(Some Visual Blockage )

SPEED CONVERSIONS

CARRY OBJECT

NONE

Drive forward while straddled over 

the 24 m (80 ft) line end-to-end then 

freely around the obstacles to get 

back on the line.

The obstacles are 1.2m (4 ft) 

wide cones, crates, or sensor 

target panels spaced 3 m (10ft) 

from both ends of the rope.

10 KM/HR 170 M/MIN 

Maneuvering: Sustain Speed (Forward Only)

ASTM E2829

2

TalonIV Telemax Calib Andros Super Dr

Matil-Mb Vang-D Bombo2 Super Dr Telemax

29

43

ORIGINAL VERSION (2012)

NEW VERSION (2020)
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Options for Robot Paths

Maneuvering Tests

3

FLAT FIGURE-8 PATH

CONTINUOUS DOWNRANGE

(2012)

ZIG-ZAG PATH

FORWARD and REVERSE

(2019)
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Maneuvering: Align Ground Contacts (Forward/Reverse)

ASTM WK53649

4
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Maneuvering: Center Through Turns (Forward/Reverse)

ASTM WK______

5

SPACE = ROBOT DIAGONAL 

(GROUND PROJECTION)

SPACE = 120% ROBOT WIDTH

(ENCOURAGING AUTONOMY)
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Maneuvering: Traverse Inclines (Forward/Reverse)

ASTM E2803

6
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Maneuvering: Diagonal Curbs (Forward/Reverse)

ASTM WK54291

7
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Maneuvering: Negotiate Leaning Obstacles (Forward/Reverse)

ASTM WK _____

8
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Maneuvering: Avoid Positive & Negative Obstacles (Autonomous)

ASTM WK______

9
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Maneuvering/HIS: Search Labyrinth/Maze

ASTM E2853

10

)

OM MAZE SEARCH

Security Applications;

.01)

y Response 

(HSI): 

rrain 

Mapping Fiducials (Half Barrels) Mapping Fiducials (Half Barrels)
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Mobility: Continuous or Crossing Pitch/Roll Ramp Terrain

ASTM E2826 or ASTM E2627

11
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Mobility: Elevated Crossing Ramp Terrain

ASTM WK_____

12

MOBILITY CONFIGURATION CARRYING WEIGHTED CRATE
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

13

Mobility: Symmetric Stepfield Terrain

ASTM E2828

RACE, England

NIST, USA

RoboCupRescue

Australia

ORIGINAL 

CONTINUOUS 

FIGURE-8 PATH

REVISED 

FORWARD/REVERSE

ZIGZAG PATH 
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Mobility: New Crate Terrains (for Legged Robots)

ASTM WK______

14

Diagonal Hill – Solid Surfaces

(all crate stacks upside-down)

Pyramid Hill – Checkered Surfaces

(every other crate stack upside-down)

Originally designed for the DARPA 

Robotics Challenge for Disaster Response 

(2012-2015). But the Robots were too big 

and heavy, so we used cinder blocks.

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee for Homeland Security Applications;

Response Robots (E54.09) http://RobotTestMethods.nist.gov

The Same Standard Test Methods Help Different Users

Challenge | Measure | Communicate

Robot Developers

§ Understand missions through tangible test apparatuses

§ Practice and refine robot designs, make trade-off decisions

§ Highlight “Best-In-Class” capabilities

Responders, Soldiers, and Other Users

§ Compare robots with objective data, not marketing

§ Specify purchases based on existing combinations of capabilities

§ Align expectations with deployment decisions

Program Managers 

§ Describe objectives with a collection of tangible tasks

§ Challenge conventional approaches and inspire innovation

§ Measure baseline capabilities and document progress

These pop-up terrains are easy to purchase, set up, and stow. Very reconfigurable.
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Mobility: New Crate Terrains (for Legged Robots)

ASTM WK______

15

Originally designed for the DARPA 

Robotics Challenge for Disaster Response 

(2012-2015). But the Robots were too big 

and heavy, so we used cinder blocks.

Ontario, Canada

Standard Test Methods for Small Unmanned Aircraft Systems

ASTM International Standards Committee for Homeland Security Applications;

Response Robots (E54.09) http://RobotTestMethods.nist.gov

The Same Standard Test Methods Help Different Users

Challenge | Measure | Communicate

Robot Developers

§ Understand missions through tangible test apparatuses

§ Practice and refine robot designs, make trade-off decisions

§ Highlight “Best-In-Class” capabilities

Responders, Soldiers, and Other Users

§ Compare robots with objective data, not marketing

§ Specify purchases based on existing combinations of capabilities

§ Align expectations with deployment decisions

Program Managers 

§ Describe objectives with a collection of tangible tasks

§ Challenge conventional approaches and inspire innovation

§ Measure baseline capabilities and document progress

Diagonal Hill – Solid Surfaces

(all crate stacks upside-down)

Pyramid Hill – Checkered Surfaces

(every other crate stack upside-down)
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Mobility: Variable Hurdle Obstacle

ASTM E2802

16
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Mobility: Variable Stair Obstacle

ASTM E2804

17
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Mobility: Variable Stair Obstacle

ASTM E2804

18
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Mobility: Variable Stair Obstacle with Debris

ASTM E2804

19
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Mobility: Crossover Slopes (Sand, Gravel, or Low Friction OSB)

ASTM E2991, E2992 

20
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Shipping Container Facilities (Buy or Rent)

Maneuvering and Dexterity

21

FLAT FIGURE-8 CROSSOVER SLOPES
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Mission Essential Tasks C-IED/EOD

22
Standard Test Methods for Response Robots

ASTM International Standards Committee on Homeland Security Applications; 

Response Robots (E54.09) | Website: RobotTestMethods.nist.gov

Sub Committee Chair:

Adam Jacoff

Intelligent Systems Division

National Institute of Standards and Technology

U.S. Department of Commerce

Committee Chair:

Phil Mattson

Science and Technology Directorate 

U.S. Department of Homeland Security

Internet

RobotTestMethods.nist.gov

Adam	Jacoff

Intelligent	Systems	Division

NATIONAL	INSTITUTE	OF	STANDARDS	AND	TECHNOLOGY

U.S.	Department	of	Commerce

Email

RobotTestMethods@nist.gov

23