2P1-L05 フリッパ付きクローラロボットの半自律に向けた接触センシングの構想(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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The authors aim at development of semi-autonomous control system for crawler robot. We had proposed a sensor reflective method in 2D steps environments. We confirmed that the proposed method worked well in unknown steps environments. In this method, contact between the crawler robot and ground was detected by using torque of the flipper's motor. The authors will extend it into 3D steps environment. In 3D environment, it is necessary to measure distribution of contact position and its force for evaluation of stability margin. We will develop a distributed touch sensor which can be supplied for the crawler robot. In this paper, the authors describe a strategy for installation of the distributed touch sensor into the crawler robot, and show the details of these touch sensors.
一般社団法人日本機械学会の論文
2007-05-11