抄録
This paper presents a posture control method based on estimating shape of steps with LRF for rescue robots during running over stairs. In disaster area, rescue robots are needed to help injured people under broken houses, buildings and so on, instead of rescue workers. Then, the robots require high skills to be controlled, because the robots are operated by remote control with wireless cameras. Especially, in case of running over steps to go to upstairs to find victims, it is hard to recognize a depth between robots and steps for operators with wireless cameras. In this paper, we propose a method for identification of shapes of steps using LRF and angle control for sub crawlers of the rescue robot. First, we present a method in order to identify a slope angle of stairs with LRF. Second, we construct an ideal slope with wooden plates and show a validity of our proposed method. Then, selection method of measured points for accurate calculation of estimation for the slope angle is considered. Third, a performance of the method is examined for actual stairs in building of our campus. Finally, it is shown that our constructed rescue robot recognizes the angle of the slope and runs over the stairs with controlling posture of the robot with sub crawlers
