知能化技術を用いたフリッパを有するクローラロボットの遠隔操縦支援 -分布的接触センサを用いた転倒回避戦略-
2008 年 2008 巻 SAI-004 号 p. 03-
詳細
2008 年 2008 巻 SAI-004 号 p. 03-
The authors aim at development of a rescue crawler robot to search for victims in rubble environment. Crawler robot with flippers "Sinbad" was built for the purpose. The robot has 6 degrees of freedom (DOF) for getting over the rubble. However, it is too hard for an operator at the remote place to control these multi degrees of freedom. In this paper, the authors will explain our approach of AI based control support for the crawler robot with flippers. Especially, the authors will explain about our developed distributed touch sensors for the crawler robot, and propose a method of rollover avoidance based on the distributed touch sensor.
