Whole-Body Touch Sensors for Tracked Mobile Robots Using Force-sensitive Chain Guides

Author

Inoue, Daisuke ; Ohno, Kazunori ; Nakamura, Shinsuke ; Tadokoro, Satoshi ; Koyanagi, Eiji

Author_Institution

Tohoku Univ., Sendai

fYear

2008

fDate

21-24 Oct. 2008

Firstpage

71

Lastpage

76

Abstract

We aim at developing an autonomous rollover protection system for rescue robots. In this study, we propose a method for autonomous rollover protection for tracked mobile robots using distributed touch sensors. We developed touch sensors for tracked robots, and we have also installed them into our developed tracked robot having four flipper arms. We have also explained the system construction and evaluation. The energy stability margins are used for rollover protection. The autonomous rollover protection system was implemented in our robot. Our system can enable the robot to avoid rollovers during a step climb without the manual control of the flipper arms.

Keywords

force sensors; mobile robots; tactile sensors; autonomous rollover protection system; distributed touch sensors; force-sensitive chain guides; rescue robots; tracked mobile robots; whole-body touch sensors; Arm; Crawlers; Intelligent sensors; Manipulators; Mobile robots; Orbital robotics; Protection; Robot sensing systems; Stability; Tactile sensors; Chain guides; Distributed touch sensor; Energy stability margin; Rollover Protection; Tracked robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Safety, Security and Rescue Robotics, 2008. SSRR 2008. IEEE International Workshop on

Conference_Location

Sendai

Print_ISBN

978-1-4244-2031-5

Electronic_ISBN

978-1-4244-2032-2

Type

conf

DOI

10.1109/SSRR.2008.4745880

Filename

4745880