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 proceedingConference 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 languageEnglish
Title of host publicationProceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008
Pages71-76
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008 - Sendai, Japan
Duration: 2008 Nov 212008 Nov 24

Publication series

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

Other

Other2008 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008
CountryJapan
CitySendai
Period08/11/2108/11/24

Keywords

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

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

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