Multi-sensor Control System for Rescue Robot which Handles a Part of Human Body Directory

在本研究中，我们开发了一种新型的救援机器人控制系统，其主要目的是直接抓住人体的一部分，从灾难中执行。在这样的系统中，机器人与操作者的操作功能和机器人与多传感器信息的自主功能的合作是非常重要的。研究了救援方法和救援机器人系统，以及救援机器人的多传感器控制系统。设计并试制了实验救援机器人系统。我们使用两个小型的5自由度工业机器人，这是固定在一个移动的基板与履带。对于自主控制和操作员反馈，我们使用两个视觉传感器，一个力传感器，分布式触觉传感器和一个滑动传感器。采用自适应手指机构来处理人体的一部分，并且可以将放置在副臂上的手移开以使用手动携带的救援工具。研制了一套输送系统，并将其加入到将伤员运送到安全区域的系统中，通过对救援任务的基础实验，验证了控制系统的有效性。并进一步提炼和探讨了救援系统实用化所必须解决的问题。

In this research, we developed a new control system for rescue robot whose main purpose is to grip a part of human's body directly to carry out from the disaster. In such a system, the cooperation of the operating function of the robot with an operator and the autonomous function of the robot with multi-sensor information is very important. We investigate the rescue method and rescue robot system, and also multi-sensor control system for the rescue robot. The experimental rescue robot system was designed and trial made. We use two small size 5 degrees of freedom industrial robots which are settled on a mobile base plate with crawler. And for autonomous control and operator feedback, we use two vision sensors, a force sensor, distributed tactile sensors and a slip sensor. The adaptive finger mechanisms are adopted for handling a part of human body, and the hand settled on the sub arm can be removed for the use of a manually carrying rescue tool. The transportation system is made and added to the system which carries a sufferer to the safety area.By the results of the fundamental experiments of the rescue task, the effectiveness of the control system is confirmed. And further we extract and investigate the problems which must be solved for the practical use of the rescue system.