Host: The Japan Society of Mechanical Engineers
Name : Dynamics and Design Conference 2018
Date : August 28, 2018 - August 31, 2018
This paper takes up the issue of semi-autonomous control design in the crawler robots with sub-crawlers of the robot for disaster and we describe the issue of compliance control rotation angle of sub-crawler. Remote-controlled mobile robots are useful for searching around and inside buildings that have collapsed in a disaster. Disaster response robots should have high mobility on rough terrain. As widely known, the crawler robots with active sub-crawlers have the high traversability to get over on rough terrain. In the present circumstances, it is hard for the operator to control its active sub-crawlers in remote control. Therefore, operators must be well trained to achieve high mobility by using remote control. Because many researchers realize high traversability on foot performance by simple control for an operator, semi-autonomous control system is studied. On the other hand, a crawler robot with passive sub-crawlers is only necessary to control the movement direction and driving speed, unlike in the case of controlling active sub-crawlers. We have been examining ground adaptability of the ground adaptive crawler robot so far. As a result, it is known that the posture of the robot varies depending on the change in the angle of the sub-crawler of the robot and the shape of the obstacle, so that the roughness of the robot greatly affects the performance depending on the posture of the robot. In this paper, by modeling as a beam model, we try to interpret compliance as a problem of the length of the rod and the position of the center of gravity varying with the attitude of the crawler robot.
