501 誰でも操作可能な震災復旧支援ロボットの開発(OS5-(6)オーガナイズドセッション《ライフサポートにおける工学技術》)

概要

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In recent years a number of rescue robots have been developed. They have many DOF to improve their mobilities and can run over stairs and steps. However, their operation are complicated because they are operated by using a conventional game-pad. In this case, it is hard to get sense operational and easy to make an operational mistake. Therefore, in order to control robots with many DOF flexibly, we propose intuitive remote control. In this paper, we introduce "KUROGANE" robot controlled by the intuitive operation. "KUROGANE" consists of general crawlers plus a human-like upper body. We operate it by a wearable remote controller. Thus, "KUROGANE" has achieved crawling swiftly over irregular terrain with high stability. We investigate its performance against outdoor irregular terrain and stairs.
一般社団法人日本機械学会の論文
2011-08-26