TY - GEN
T1 - Whole-body touch sensors for tracked mobile robots using force-sensitive chain guides
AU - Inoue, Daisuke
AU - Ohno, Kazunori
AU - Nakamura, Shinsuke
AU - Tadokoro, Satoshi
AU - Koyanagi, Eiji
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
KW - Chain guides
KW - Distributed touch sensor
KW - Energy stability margin
KW - Rollover Protection
KW - Tracked robot
UR - http://www.scopus.com/inward/record.url?scp=62949169095&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=62949169095&partnerID=8YFLogxK
U2 - 10.1109/SSRR.2008.4745880
DO - 10.1109/SSRR.2008.4745880
M3 - Conference contribution
AN - SCOPUS:62949169095
SN - 9781424420322
T3 - Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008
SP - 71
EP - 76
BT - Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008
T2 - 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008
Y2 - 21 November 2008 through 24 November 2008
ER -