2A1-M02 Evaluation of UGV Rapidly Negotiating Rough Terrain by Master Slave Operation Entraining with Involuntary Adaptive System(Mobile Robot with Special Mechanism(1))

Abstract

In recent years, some UGV have been developed that run over irregular terrain with remote control. They have a number of DOF to improve their mobility and are capable of running over stairs and steps. However, their remote operations are complicated, because they are controlled by operators using a control pad such as used in computer games or toys. In order to easily control robots with many DOF, we propose an intuitive remote control system, using the conventional master-slave operation. Our UGV 'KUROGANE' consists of a typical crawler plus a human-like upper body. KUROGANE has achieved the ability to negotiate swiftly over irregular terrain. We demonstrated performance over outdoor rugged terrain as well as steps and stairs. In this paper, we investigated the effectiveness of the performance by simulation.