Tumble Avoidance System for Rescue Robot by Estimating the Contact Points using a 3D Depth Sensor

被引：0

作者：

Sato, Noritaka ^{[1
]}

Ohshima, Kotaro ^{[1
]}

Morita, Yoshifumi ^{[1
]}

机构：

[1] Nagoya Inst Technol, Dept Elect & Mech Engn, Syowa Ku, Gokiso Cho, Nagoya, Aichi 4668555, Japan

来源：

JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE | 2019年 / 6卷 / 02期

关键词：

Rescue robot; tumble avoidance; normalized energy stability margin; 3D depth sensor;

D O I：

10.2991/jrnal.k.190828.008

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Rescue robots are expected to perform works in hazardous areas. However, when the robot runs on a rough terrain, fatal rollover falling sometimes occurs. Therefore, we propose a tumble-risk-assessment system, which calculates a normalized energy stability margin by using a 3D depth sensor. Moreover, a control system to avoid the tumble situation by moving the sub-crawlers automatically is proposed. We implemented the proposed systems to a real robot, carried out experiments, and confirmed the effectiveness of the proposed method. (C) 2019 The Authors. Published by Atlantis Press SARL.

引用

页码：109 / 112

页数：4

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