Angle Control of Sub-Crawler Robot on Discontinuous Slopes

Abstract

When disasters occur due to fire, earthquakes, terrorism, etc., it is sometimes difficult for humans to perform rescue operations. In such cases, disaster response robots are expected to be utilized to remotely operate and survey disaster sites. The disaster response robots have high traversing ability and can drive over rough terrains with proper operation. However, remote operation of robots on uneven terrains is difficult, and there is a large risk for the robot to fall over or be damaged if operated incorrectly. To avoid such a situation, automatic driving over the rough terrains is being considered to reduce operation errors. In this study, a stable automatic driving method of the robot is developed using one of the discontinuous slopes used in the standard test methods to evaluate the capability of disaster response robots.