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

Daisuke Endo, Atsushi Watanabe, Keiji Nagatani

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルSSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
編集者Kamilo Melo
出版者Institute of Electrical and Electronics Engineers Inc.
ページ112-117
ページ数6
ISBN(電子版)9781509043491
DOI
出版物ステータスPublished - 2016 12 14
イベント14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016 - Lausanne, Switzerland
継続期間: 2016 10 232016 10 27

出版物シリーズ

名前SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics

Other

Other14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016
Switzerland
Lausanne
期間16/10/2316/10/27

ASJC Scopus subject areas

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

フィンガープリント Stair climbing control of 4-degrees-of-freedom tracked vehicle based on internal sensors' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用

    Endo, D., Watanabe, A., & Nagatani, K. (2016). Stair climbing control of 4-degrees-of-freedom tracked vehicle based on internal sensors. : K. Melo (版), 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