Volume 6, Issue 2, September 2019, Pages 109 - 112
Tumble Avoidance System for Rescue Robot by Estimating the Contact Points using a 3D Depth Sensor
Authors
Noritaka Sato*, Kotaro Ohshima, Yoshifumi Morita
Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Gokiso-cho, Syowa-ku, Nagoya, Aichi 466-8555, Japan
*Corresponding author. E-mail: sato.noritaka@nitech.ac.jp
Corresponding Author
Noritaka Sato
Received 3 November 2018, Accepted 20 November 2018, Available Online 10 September 2019.
- DOI
- 10.2991/jrnal.k.190828.008How to use a DOI?
- Keywords
- Rescue robot; tumble avoidance; normalized energy stability margin; 3D depth sensor
- Abstract
Rescue robots are expected to perform works in hazardous areas. However, when the robot runs on a rough terrain, fatal rollover falling sometimes occurs. Therefore, we propose a tumble-risk-assessment system, which calculates a normalized energy stability margin by using a 3D depth sensor. Moreover, a control system to avoid the tumble situation by moving the sub-crawlers automatically is proposed. We implemented the proposed systems to a real robot, carried out experiments, and confirmed the effectiveness of the proposed method.
- Copyright
- © 2019 The Authors. Published by Atlantis Press SARL.
- Open Access
- This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).
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TY - JOUR AU - Noritaka Sato AU - Kotaro Ohshima AU - Yoshifumi Morita PY - 2019 DA - 2019/09/10 TI - Tumble Avoidance System for Rescue Robot by Estimating the Contact Points using a 3D Depth Sensor JO - Journal of Robotics, Networking and Artificial Life SP - 109 EP - 112 VL - 6 IS - 2 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.k.190828.008 DO - 10.2991/jrnal.k.190828.008 ID - Sato2019 ER -