Autonomous Control of A Shape-shifting Robot in Urban Terrain

Author

Li, Bin ; Ma, Shugen ; Liu, Jinguo ; Wang, Yuechao

Author_Institution

Acad. of Sci., Shenyang

fYear

2007

fDate

27-29 Sept. 2007

Firstpage

1

Lastpage

6

Abstract

An autonomous control system is developed for a shape-shifting robot "AMOEBA-I" to be possibly used in the urban terrain. Based on the sensors including GPS, electronic compass, inclinometer and encoder, the autonomous motions of AMOEBA-I are realized. The shape-shifting motion, navigation, obstacle-climbing motion, and obstacle avoidance are all autonomously performed in unstructured environments by the robot "AMOEBA-I". Experiments have been performed to validate the effectiveness of the developed autonomous control system.

Keywords

collision avoidance; mobile robots; motion control; navigation; service robots; AMOEBA-I shape-shifting robot motion; Global Positioning System; autonomous control system; electronic compass; encoder; inclinometer; obstacle avoidance; obstacle-climbing motion; rescue robot; sensors; urban terrain; Conferences; Control systems; Earthquakes; Intelligent robots; Laboratories; Robot sensing systems; Robotics and automation; Sensor phenomena and characterization; Sensor systems; Shape control; autonomous control method; shape-shifting robot; urban terrain;

fLanguage

English

Publisher

ieee

Conference_Titel

Safety, Security and Rescue Robotics, 2007. SSRR 2007. IEEE International Workshop on

Conference_Location

Rome

Print_ISBN

978-1-4244-1569-4

Electronic_ISBN

978-1-4244-1569-4

Type

conf

DOI

10.1109/SSRR.2007.4381285

Filename

4381285