1A2-J15 クローラロボットの動力学モデルを用いた不整地における状態推定(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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Tracked vehicle with sub-tracks has high driving performance on rubble. However, navigator cannot observe position in contact with the rubble and crawler using camera and inertial sensor mounted on the tracked vehicle. Therefore, tracked vehicle was losing a balance on rubble and sub-tracks applied overload to motor when it stacked on rubble. In this paper, we propose the way to measure the force applied to the drive system at cannot mount contact sensor and the contact position cannot observe by camera using the dynamics of the robot and the inertial sensor information. By using the proposed method, we will be able to estimate the state of tracked vehicle that it stuck on the rubble and it run upon rubble and steps.
一般社団法人日本機械学会の論文
2011-05-26