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 proceedingConference 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 languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages3012-3018
Number of pages7
DOIs
Publication statusPublished - 2007 Dec 1
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 2007 Oct 292007 Nov 2

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period07/10/2907/11/2

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

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