Semi-autonomous control system of rescue crawler robot having flippers for getting over unknown-steps

Kazunori Ohno; Shouich Morimura; Satoshi Tadokoro; Eiji Koyanagi; Tomoaki Yoshida

doi:10.1109/IROS.2007.4399271

Semi-autonomous control system of rescue crawler robot having flippers for getting over unknown-steps

Kazunori Ohno, Shouich Morimura, Satoshi Tadokoro, Eiji Koyanagi, Tomoaki Yoshida

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

59 Citations (Scopus)

Abstract

A rescue crawler robot with flipper arms has high ability to get over rough terrain, but it is hard to control its flipper arms in remote control. The authors aim at development of a semi-autonomous control system for the solution. In this paper, the authors propose a sensor reflexive method that controls these flippers autonomously for getting over unknown steps. Our proposed method is effective in unknown and changeable environment. The authors applied the proposed method to Aladdin, and examined validity of these control rules in unknown environment.

Original language	English
Title of host publication	Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages	3012-3018
Number of pages	7
DOIs	https://doi.org/10.1109/IROS.2007.4399271
Publication status	Published - 2007 Dec 1
Event	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States Duration: 2007 Oct 29 → 2007 Nov 2

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country	United States
City	San Diego, CA
Period	07/10/29 → 07/11/2

Keywords

Crawler robot
Flipper control
Semi-autonomous
Sensor reflexive
Unknown-step

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2007.4399271

Fingerprint Dive into the research topics of 'Semi-autonomous control system of rescue crawler robot having flippers for getting over unknown-steps'. Together they form a unique fingerprint.

Cite this

Ohno, K., Morimura, S., Tadokoro, S., Koyanagi, E., & Yoshida, T. (2007). Semi-autonomous control system of rescue crawler robot having flippers for getting over unknown-steps. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 3012-3018). [4399271] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399271

Semi-autonomous control system of rescue crawler robot having flippers for getting over unknown-steps. / Ohno, Kazunori; Morimura, Shouich; Tadokoro, Satoshi; Koyanagi, Eiji; Yoshida, Tomoaki.

Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 3012-3018 4399271 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ohno, K, Morimura, S, Tadokoro, S, Koyanagi, E & Yoshida, T 2007, Semi-autonomous control system of rescue crawler robot having flippers for getting over unknown-steps. in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007., 4399271, IEEE International Conference on Intelligent Robots and Systems, pp. 3012-3018, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 07/10/29. https://doi.org/10.1109/IROS.2007.4399271

Ohno K, Morimura S, Tadokoro S, Koyanagi E, Yoshida T. Semi-autonomous control system of rescue crawler robot having flippers for getting over unknown-steps. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 3012-3018. 4399271. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399271

Ohno, Kazunori ; Morimura, Shouich ; Tadokoro, Satoshi ; Koyanagi, Eiji ; Yoshida, Tomoaki. / Semi-autonomous control system of rescue crawler robot having flippers for getting over unknown-steps. Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. pp. 3012-3018 (IEEE International Conference on Intelligent Robots and Systems).

@inproceedings{433ef62d3c7f46df878f3ffa8501f8d5,

title = "Semi-autonomous control system of rescue crawler robot having flippers for getting over unknown-steps",

abstract = "A rescue crawler robot with flipper arms has high ability to get over rough terrain, but it is hard to control its flipper arms in remote control. The authors aim at development of a semi-autonomous control system for the solution. In this paper, the authors propose a sensor reflexive method that controls these flippers autonomously for getting over unknown steps. Our proposed method is effective in unknown and changeable environment. The authors applied the proposed method to Aladdin, and examined validity of these control rules in unknown environment.",

keywords = "Crawler robot, Flipper control, Semi-autonomous, Sensor reflexive, Unknown-step",

author = "Kazunori Ohno and Shouich Morimura and Satoshi Tadokoro and Eiji Koyanagi and Tomoaki Yoshida",

year = "2007",

month = dec,

day = "1",

doi = "10.1109/IROS.2007.4399271",

language = "English",

isbn = "1424409128",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "3012--3018",

booktitle = "Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007",

note = "2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 ; Conference date: 29-10-2007 Through 02-11-2007",

}

TY - GEN

T1 - Semi-autonomous control system of rescue crawler robot having flippers for getting over unknown-steps

AU - Ohno, Kazunori

AU - Morimura, Shouich

AU - Tadokoro, Satoshi

AU - Koyanagi, Eiji

AU - Yoshida, Tomoaki

PY - 2007/12/1

Y1 - 2007/12/1

N2 - A rescue crawler robot with flipper arms has high ability to get over rough terrain, but it is hard to control its flipper arms in remote control. The authors aim at development of a semi-autonomous control system for the solution. In this paper, the authors propose a sensor reflexive method that controls these flippers autonomously for getting over unknown steps. Our proposed method is effective in unknown and changeable environment. The authors applied the proposed method to Aladdin, and examined validity of these control rules in unknown environment.

AB - A rescue crawler robot with flipper arms has high ability to get over rough terrain, but it is hard to control its flipper arms in remote control. The authors aim at development of a semi-autonomous control system for the solution. In this paper, the authors propose a sensor reflexive method that controls these flippers autonomously for getting over unknown steps. Our proposed method is effective in unknown and changeable environment. The authors applied the proposed method to Aladdin, and examined validity of these control rules in unknown environment.

KW - Crawler robot

KW - Flipper control

KW - Semi-autonomous

KW - Sensor reflexive

KW - Unknown-step

UR - http://www.scopus.com/inward/record.url?scp=51349092939&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=51349092939&partnerID=8YFLogxK

U2 - 10.1109/IROS.2007.4399271

DO - 10.1109/IROS.2007.4399271

M3 - Conference contribution

AN - SCOPUS:51349092939

SN - 1424409128

SN - 9781424409129

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 3012

EP - 3018

BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007

T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007

Y2 - 29 October 2007 through 2 November 2007

ER -