Whole-body touch sensors for tracked mobile robots using force-sensitive chain guides

Daisuke Inoue; Kazunori Ohno; Shinsuke Nakamura; Satoshi Tadokoro; Eiji Koyanagi

doi:10.1109/SSRR.2008.4745880

Whole-body touch sensors for tracked mobile robots using force-sensitive chain guides

Daisuke Inoue, Kazunori Ohno, Shinsuke Nakamura, Satoshi Tadokoro, Eiji Koyanagi

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

6 Citations (Scopus)

Abstract

We aim at developing an autonomous rollover protection system for rescue robots. In this study, we propose a method for autonomous rollover protection for tracked mobile robots using distributed touch sensors. We developed touch sensors for tracked robots, and we have also installed them into our developed tracked robot having four flipper arms. We have also explained the system construction and evaluation. The energy stability margins are used for rollover protection. The autonomous rollover protection system was implemented in our robot. Our system can enable the robot to avoid rollovers during a step climb without the manual control of the flipper arms.

Original language	English
Title of host publication	Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008
Pages	71-76
Number of pages	6
DOIs	https://doi.org/10.1109/SSRR.2008.4745880
Publication status	Published - 2008 Dec 1
Event	2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008 - Sendai, Japan Duration: 2008 Nov 21 → 2008 Nov 24

Publication series

Name	Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008

Other

Other	2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008
Country	Japan
City	Sendai
Period	08/11/21 → 08/11/24

Keywords

Chain guides
Distributed touch sensor
Energy stability margin
Rollover Protection
Tracked robot

ASJC Scopus subject areas

Computer Vision and Pattern Recognition

Access to Document

10.1109/SSRR.2008.4745880

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Cite this

Inoue, D., Ohno, K., Nakamura, S., Tadokoro, S., & Koyanagi, E. (2008). Whole-body touch sensors for tracked mobile robots using force-sensitive chain guides. In Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008 (pp. 71-76). [4745880] (Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008). https://doi.org/10.1109/SSRR.2008.4745880

Whole-body touch sensors for tracked mobile robots using force-sensitive chain guides. / Inoue, Daisuke; Ohno, Kazunori; Nakamura, Shinsuke; Tadokoro, Satoshi; Koyanagi, Eiji.

Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008. 2008. p. 71-76 4745880 (Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008).

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

Inoue, D, Ohno, K, Nakamura, S, Tadokoro, S & Koyanagi, E 2008, Whole-body touch sensors for tracked mobile robots using force-sensitive chain guides. in Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008., 4745880, Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008, pp. 71-76, 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008, Sendai, Japan, 08/11/21. https://doi.org/10.1109/SSRR.2008.4745880

Inoue D, Ohno K, Nakamura S, Tadokoro S, Koyanagi E. Whole-body touch sensors for tracked mobile robots using force-sensitive chain guides. In Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008. 2008. p. 71-76. 4745880. (Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008). https://doi.org/10.1109/SSRR.2008.4745880

Inoue, Daisuke ; Ohno, Kazunori ; Nakamura, Shinsuke ; Tadokoro, Satoshi ; Koyanagi, Eiji. / Whole-body touch sensors for tracked mobile robots using force-sensitive chain guides. Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008. 2008. pp. 71-76 (Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008).

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