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

3 被引用数 (Scopus)

抄録

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.

本文言語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
出版社Institute of Electrical and Electronics Engineers Inc.
ページ112-117
ページ数6
ISBN(電子版)9781509043491
DOI
出版ステータスPublished - 2016 12月 14
イベント14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016 - Lausanne, Switzerland
継続期間: 2016 10月 232016 10月 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
国/地域Switzerland
CityLausanne
Period16/10/2316/10/27

ASJC Scopus subject areas

  • 人間とコンピュータの相互作用
  • 人工知能
  • 安全性、リスク、信頼性、品質管理

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