Stair climbing control of 4-degrees-of-freedom tracked vehicle based on internal sensors

Daisuke Endo, Atsushi Watanabe, Keiji Nagatani

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

1 Citation (Scopus)

Abstract

In search and rescue missions, multi-degree-of-freedom (DOF) tracked robots that are equipped with subtracks are supposed to be useful. These types of robots have superior locomotion performance on rough terrain. However, in teleoperated missions, the performance of tracked robots relies on the operators' skill to control every subtrack appropriately. Therefore, an autonomous traversal function can significantly help in the teleoperation of such robots. In this paper, we propose a planning and control method for 4-DOF tracked robots traversing known stairs automatically, based on internal sensors. Some experimental results in mock-up stairs verify the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationSSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
EditorsKamilo Melo
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages112-117
Number of pages6
ISBN (Electronic)9781509043491
DOIs
Publication statusPublished - 2016 Dec 14
Event14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016 - Lausanne, Switzerland
Duration: 2016 Oct 232016 Oct 27

Publication series

NameSSRR 2016 - International Symposium on Safety, Security and Rescue Robotics

Other

Other14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016
CountrySwitzerland
CityLausanne
Period16/10/2316/10/27

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Artificial Intelligence
  • Safety, Risk, Reliability and Quality

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  • Cite this

    Endo, D., Watanabe, A., & Nagatani, K. (2016). Stair climbing control of 4-degrees-of-freedom tracked vehicle based on internal sensors. In K. Melo (Ed.), SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics (pp. 112-117). [7784286] (SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSRR.2016.7784286