ロボット遠隔操作のための動力学シミュレーションを用いた走行安定性の提示

抄録

This paper proposes a method to visualize running stability of robots in its surrounding terrain. The stability should be evaluated by taking account of the physical interaction between a robot and terrain. In this study, the dynamics of the robot behavior in the terrain is calculated in advance with a dynamic simulator, and the stability is assessed by our proposed criterion that can evaluate the tumble risk in a term. The calculated stability is visualized to the teleoperation operator, and therefore, a safe path can be chosen to move. In experiments, the validity of the proposed method was performed by testing additionally in an actual environment after the simulation.