## 3 Performance Test  
At present, a wide range of rescue robots are available in the market, each with distinct characteristics and functionalities. To comprehensively understand and evaluate their performance, it is essential to have diverse samples for testing and research purposes. Therefore, this paper selects three types of earthquake search and rescue robots developed by the Shenyang Institute of Automation as the subjects of investigation. These three robots are denoted as Sample A, Sample B, and Sample C with their prototypes depicted in Figure 2. \begin{table}
\begin{tabular}{c c c} \hline \hline
**Main Criteria** & **Corresponding Criteria** & **Literature Sources** \\ \hline \multirow{4}{*}{Communication control ability} & Time required for establishing communication & [21; 26; 60; 61] \\  & Success rate of the operating interface & [58; 60; 62; 61] \\  & Accuracy of data transmission & [56; 57; 60; 61] \\  & Maximum distance for wireless control & [60; 61; 63] \\ \hline \hline \end{tabular}
\end{table} 
Table 4: The communication control evaluation criteria. Figure 1: The hierarchical structure for the performance of rescue robot. Each robot exhibits unique design concepts, functional configurations, and practical applications. The related parameters of the three robots are shown in Table 5. Subsequently, a detailed analysis and comparison of these three robots will be conducted. * Sample A: The robot is designed for exploring ruins and features three independently driven tracks. The position of these tracks can be adjusted to suit various rescue environments and tasks, allowing the robot to transform into linear, triangular, or side-by-side configurations. Meanwhile, the robot can penetrate into the ruins and utilize its own infrared camera and sound sensor to transmit real-time image and voice information from inside the ruins back to the console, enabling rescues to promptly identify survivors' locations and assess their surrounding environment. * Sample B: According to the terrain characteristics in rescue environments, the robot's track geometry can be adjusted to enable it to switch between wheeled and tracked motion modes. Meanwhile, the robot is capable of entering hazardous situations and conducting survivor search and environmental detection tasks using its own camera, temperature, and humidity sensor, as well as a toxic and harmful gas sampling device. Additionally, the cloud platform can be deployed vertically alongside the robot into elevator shafts and caves to enhance the rescuer's visibility range. * Sample C: The mobile mechanism adopts a modular chain structure to ensure its capability to navigate complex terrains. Depending on different rescue environments and tasks, the robot can transform into three distinct configurations: triangular, _D_-shaped, and side-by-side. Meanwhile, the robot integrates life detection technology with life detection radar, video, and audio information. Additionally, it is capable of penetrating non-metallic materials to effectively detect the vital signs of survivors using this life detection technology. The performance test of the three types of earthquake rescue robots is conducted to obtain the evaluation criteria's values. In this paper, a series of test modules designed by the national earthquake response support service are used to test the performance of the three types of earthquake rescue robots [64]. The real arrangement of each module is shown in Figure 3. The next section will present the specific content of each module. 1. The dynamic slope test module is a linkage mechanism consisting of a hydraulic lifting platform and a slope device featuring an adjustable continuous slope ranging  
Figure 2: Prototype of the three types of earthquake search and rescue robots: (**a**) Sample A; (**b**) Sample B; (**c**) Sample C.