Tumble Avoidance System for Rescue Robot by Estimating the Contact Points using a 3D Depth Sensor

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,...

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Bibliographic Details
Published inJournal of robotics, networking and artificial life Vol. 6; no. 2; pp. 109 - 112
Main Authors Sato, Noritaka, Ohshima, Kotaro, Morita, Yoshifumi
Format Journal Article
LanguageEnglish
Published Dordrecht Springer Netherlands 2019
Subjects
Research Article
tumble avoidance
normalized energy stability margin
3D depth sensor
Rescue robot
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Summary: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.
ISSN:2405-9021
2352-6386
DOI:10.2991/jrnal.k.190828.008