TY - GEN
T1 - Semi-autonomous control of 6-DOF crawler robot having flippers for getting over unknown-steps
AU - Ohno, Kazunori
AU - Morimura, Shouich
AU - Tadokoro, Satoshi
AU - Koyanagi, Eiji
AU - Yoshida, Tomoaki
PY - 2007
Y1 - 2007
N2 - A rescue crawler robot having flipper arm has high ability to get over rough terrain, but it is hard to control its flippers in remote control. The authors aim at development of a semi-autonomous control system for the crawler robot. In the system, moving direction is specified by an operator at remote place. Joypad (Sony PS2 controller) is used as input devise . For increasing its stability and robustness about change of the environment, its flippers are controlled according to sensor informations which can be obtained in real-time. Concretely, the robot recognizes the environment (upward step or downward step) using its physical model, its postural information, flippers' contact and distance between the body and ground, and controls these flippers. In this movie, we show you performance of our proposed control method using "Aladdin".
AB - A rescue crawler robot having flipper arm has high ability to get over rough terrain, but it is hard to control its flippers in remote control. The authors aim at development of a semi-autonomous control system for the crawler robot. In the system, moving direction is specified by an operator at remote place. Joypad (Sony PS2 controller) is used as input devise . For increasing its stability and robustness about change of the environment, its flippers are controlled according to sensor informations which can be obtained in real-time. Concretely, the robot recognizes the environment (upward step or downward step) using its physical model, its postural information, flippers' contact and distance between the body and ground, and controls these flippers. In this movie, we show you performance of our proposed control method using "Aladdin".
UR - http://www.scopus.com/inward/record.url?scp=51349115981&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349115981&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399428
DO - 10.1109/IROS.2007.4399428
M3 - Conference contribution
AN - SCOPUS:51349115981
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2559
EP - 2560
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -