2P1-D16 遠隔操作型ほふく前進ロボットによる不整地高速走破

概要

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In recent years a number of vehicle robots that move on irregular terrains have been developed. They have many DOF to improve their nobilities and can run on stairs and steps. However, their operations are complicated because we operate them by a conventional game-pad. In this case, It is hard to get an operational sense and easy to make an operational mistake. In order to control robots with many DOF flexibly, we propose an intuitive remote control. In this paper, we introduce "KUROGANE" controlled by the intuitive operation. KUROGANE consists of general crawlers plus human-like upper body. We operate it by a wearable remote controller. Thus, KUROGANE has achieved crawling swiftly on irregular terrains with high stability. We investigate its performance against the outdoor irregular terrains.
2009-05-25