TY - GEN
T1 - Contact points detection for tracked mobile robots using inclination of track chains
AU - Inoue, Daisuke
AU - Konyo, Masashi
AU - Ohno, Kazunori
AU - Tadokoro, Satoshi
PY - 2008/9/30
Y1 - 2008/9/30
N2 - A tracked mobile robot has high mobility and stability to get over rough terrain by changing its form according to environments. However, it is hard for an operator to control the mechanism skillfully by remote control. One of the solutions of the problem is an implementation of an autonomous control system. A detection of distributed contact points between the crawlers and an environment enable the autonomous control. In this paper, the authors propose a distributed contact sensor for tracked vehicle. In order to apply touch sensors to each track shoe, a problem of electric wirings has to be solved because the crawler is rotating continuously. In our proposed method, contact points are detected by measuring inclination of track shoes optically. For optical sensing of the inclination, a special reflector is designed and evaluated. The authors developed a method for distributed contact sensing of tracked vehicle, and examined whether the sensor can detect contact point during the step climbing motion.
AB - A tracked mobile robot has high mobility and stability to get over rough terrain by changing its form according to environments. However, it is hard for an operator to control the mechanism skillfully by remote control. One of the solutions of the problem is an implementation of an autonomous control system. A detection of distributed contact points between the crawlers and an environment enable the autonomous control. In this paper, the authors propose a distributed contact sensor for tracked vehicle. In order to apply touch sensors to each track shoe, a problem of electric wirings has to be solved because the crawler is rotating continuously. In our proposed method, contact points are detected by measuring inclination of track shoes optically. For optical sensing of the inclination, a special reflector is designed and evaluated. The authors developed a method for distributed contact sensing of tracked vehicle, and examined whether the sensor can detect contact point during the step climbing motion.
KW - Distributed touch sensor
KW - Inclination of track chains
KW - Search and rescue robots
KW - Tracked mobile robots
KW - View angle filter
UR - http://www.scopus.com/inward/record.url?scp=52449102411&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=52449102411&partnerID=8YFLogxK
U2 - 10.1109/AIM.2008.4601658
DO - 10.1109/AIM.2008.4601658
M3 - Conference contribution
AN - SCOPUS:52449102411
SN - 9781424424955
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 194
EP - 199
BT - Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
T2 - 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Y2 - 2 August 2008 through 5 August 2008
ER -