2P2-A12 フリッパを有するクローラロボットのためのロール方向の転倒判定と転倒回避動作の提案(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 getting over unknown 3D rough terrain, and used Aladdin that is a 6DOF tracked vehicle with four flippers. In our previous researches, a sensor reflexive approach was used for the semi-autonomous control because a rubble environment shape suddenly changes. In this paper, the authors will propose a method of rollover avoidance for the tracked vehicle with nippers. The rollover avoidance composes of a prediction phase and a motion generation face. In the prediction phase, it is necessary to consider the crawler contact condition, four flipper s angles and the robot posture. The authors will use normalized stability margin from these sensor data for the judgment. In the motion generation, flippers will are controlled according to the flipper contact condition.
2008-06-06