2P1-L03 クローラの半自律不整地踏破のための実時間三次元地形計測に基づくフリッパ制御則の検討(サーチ&レスキューロボット・メカトロニクス)

概要

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We aim at development of semi-autonomous control system for a crawler robot which has flippers at the front and the rear. We had proposed a sensor reflective method in 2D steps environment. In this method, an operator only specifies a moving direction to the robot. The robot automatically controls these flippers for getting over a bump. The proposed method worked well in 2D steps environment. However, these front flippers sometimes caught upward step which was located after downward steps when the robot descended these steps. In this paper, the authors will propose a method for flipper's collision avoidance using real-time 3D range camera. Moving trajectory of front flipper is estimated considering robot's velocity, flipper's angular velocity and flipper's position. The collision is detected by comparing the ground shape with the trajectory. The flipper's position is changed to new angle without the collision.
一般社団法人日本機械学会の論文
2007-05-11