Contact points detection for tracked mobile robots using inclination of track chains

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Pages194-199
Number of pages6
DOIs
Publication statusPublished - 2008 Sep 30
Event2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 - Xi'an, China
Duration: 2008 Aug 22008 Aug 5

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
CountryChina
CityXi'an
Period08/8/208/8/5

Keywords

  • Distributed touch sensor
  • Inclination of track chains
  • Search and rescue robots
  • Tracked mobile robots
  • View angle filter

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Inoue, D., Konyo, M., Ohno, K., & Tadokoro, S. (2008). Contact points detection for tracked mobile robots using inclination of track chains. In Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 (pp. 194-199). [4601658] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2008.4601658