Integration of a sub-crawlers' autonomous control in Quince highly mobile rescue robot

Eric Rohmer, Kazunori Ohno, Tomoaki Yoshida, Keiji Nagatani, Eiji Konayagi, Satoshi Tadokoro

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

32 Citations (Scopus)

Abstract

Rapid information gathering during the initial stage of investigation is an important process in case of disasters. However this task could be very risky for human rescue crews, when the infrastructure of the building has been compromised or the environment contaminated by nuclear, biological, or chemical weapons. To be able to develop robots that can go inside the site instead of humans, several area of robotics need to be addressed and integrated inside a common robotic platform. In this paper, we described the modular interoperable and extensive hardware and software architecture of Quince, a high degree of mobility crawler type rescue robot having four independent sub-crawlers. To facilitate Quince's navigability, we developed and integrated a semi-autonomous control algorithm that helps the remote operator driving Quince while the flippers are autonomously adjusting to the environment. The robot is then able to overcome obstacles and steps without a special training of the operator. We present here the software integration and the control strategy of the flippers using the embedded basic version of Quince.

Original languageEnglish
Title of host publication2010 IEEE/SICE International Symposium on System Integration
Subtitle of host publicationSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
Pages78-83
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
Duration: 2010 Dec 212010 Dec 22

Publication series

Name2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

Other

Other3rd International Symposium on System Integration, SII 2010
CountryJapan
CitySendai
Period10/12/2110/12/22

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Rohmer, E., Ohno, K., Yoshida, T., Nagatani, K., Konayagi, E., & Tadokoro, S. (2010). Integration of a sub-crawlers' autonomous control in Quince highly mobile rescue robot. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings (pp. 78-83). [5708305] (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings). https://doi.org/10.1109/SII.2010.5708305