Semi-autonomous control system of rescue crawler robot having flippers for getting Over unknown-Steps
Semi-autonomous control system of rescue crawler robot having flippers for getting Over unknown-Steps
复制标题
克服未知台阶的具有脚蹼的救援履带机器人半自主控制系统
DOI：
10.1109/iros.2007.4399271
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
Tomoaki Yoshida
中科院分区：
文献类型：
--
作者：
K. Ohno;Shouichi Morimura;S. Tadokoro;E. Koyanagi;Tomoaki Yoshida
一种带有鳍状臂的救援履带式机器人具有很强的穿越崎岖地形的能力，但在远程控制其鳍状臂却很困难。作者旨在开发一种半自主控制系统来解决这个问题。在本文中，作者提出了一种传感器反射方法，该方法可自动控制这些鳍状臂以越过未知的台阶。我们所提出的方法在未知且多变的环境中是有效的。作者将所提出的方法应用于“阿拉丁”（机器人名称），并检验了这些控制规则在未知环境中的有效性。
A rescue crawler robot with flipper arms has high ability to get over rough terrain, but it is hard to control its flipper arms in remote control. The authors aim at development of a semi-autonomous control system for the solution. In this paper, the authors propose a sensor reflexive method that controls these flippers autonomously for getting over unknown steps. Our proposed method is effective in unknown and changeable environment. The authors applied the proposed method to Aladdin, and examined validity of these control rules in unknown environment.