Development and control method of six-wheel robot with rocker structure

Keiji Nagatani, Ayato Yamasaki, Kazuya Yoshida, Tadashi Adachi

研究成果: Conference contribution

14 被引用数 (Scopus)

抄録

In our research group, the project, named "networked robotic system for disaster mitigation", has been carried out to perform robotic victim-search in disaster environment. In this project, we have developed a mobile robots' system which consists of small mobile robots (to search victims in collapsed buildings) and a large-mobile-robot (to convey small robots into it). In order to approach to the target buildings, the large robot is required to surmount some debris and bumpy terrain. For this purpose, the robot has six wheels, and two pairs of wheels in front are formed as actuated rocker structures. This wheel configuration can achieve "active load-equalizer" or other control methods by using load cell data. In this paper, the system description and control methods of the large robot are introduced. We also report a performance of the control methods using a "robot dynamics simulator" developed in our group and preliminary experiments using real robot to evaluate the feasibility of our approach.

本文言語English
ホスト出版物のタイトルSSRR2007 - IEEE International Workshop on Safety, Security and Rescue Robotics Proceedings
DOI
出版ステータスPublished - 2007 12 1
イベントIEEE International Workshop on Safety, Security and Rescue Robotics, SSRR2007 - Rome, Italy
継続期間: 2007 9 272007 9 29

出版物シリーズ

名前SSRR2007 - IEEE International Workshop on Safety, Security and Rescue Robotics Proceedings

Other

OtherIEEE International Workshop on Safety, Security and Rescue Robotics, SSRR2007
国/地域Italy
CityRome
Period07/9/2707/9/29

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 安全性、リスク、信頼性、品質管理
  • 安全研究

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