Title :
Design and 3D reconstruction of a Tendon-Sheath-Driven searching and rescuing robot
Author :
Zhang Guangxiao ; Wang Xingsong
Author_Institution :
Sch. of Mech. Eng., Southeast Univ., Nanjing, China
Abstract :
In order to improve the performance of searching and rescuing robots, a Tendon-Sheath-Driven rescue robot system was designed and its posture and position´s 3D reconstruction has been realized. Robot body, pushing mechanism, pulling mechanism, monitoring terminal, and Human-Robot interface (PC) was included in the system. Then a new and novel algorithm of 3D robot shape reconstruction was introduced in this paper. And the result can be shown in the Human-Robot Interface (HRI).The experimental results show that this reconstruction method has enough accuracy.
Keywords :
control engineering computing; human-robot interaction; position control; rescue robots; 3D reconstruction; 3D robot shape reconstruction; HRI; human-robot interface; monitoring terminal; pulling mechanism; pushing mechanism; reconstruction method; robot body; tendon-sheath-driven rescue robot system; tendon-sheath-driven searching and rescuing robot; Joints; Robot kinematics; Robot sensing systems; Servomotors; Tendons; Three-dimensional displays; 3D reconstruction; OpenGL; Tendon-Sheath-Driven; rescuing robot;
Conference_Titel :
Safety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on
Conference_Location :
Linkoping
Print_ISBN :
978-1-4799-0879-0
DOI :
10.1109/SSRR.2013.6719326
