Development of a usar robot considering camera view angle and grouser shape of crawler

Author

Kimura, Tetsuya ; Vie, Wong Chon ; Ukai, Youhei

Author_Institution

Dept. of Syst. Safety, Nagaoka Univ. of Technol., Niigata

fYear

2009

fDate

22-25 Feb. 2009

Firstpage

1991

Lastpage

1994

Abstract

The development of a teleoperated robot for USAR (Urban Search And Rescue) activities has been discussed in the paper. Suitable camera view angle of the USAR robot has been examined by using simulation and it has been shown that wider angle than common usual camera is better for the robot. Isotropic bumping and touching object(IBO) has been proposed for the grouser of the robot crawler in order to have better traveling performance on complex terrain. The performance has been measured through the climbing on a spiral stair. The effectiveness has been evaluated through robocup rescue robot league (RRRL), and the developed robot had won 1st place in RRRL Japan Open 2007 and 2008, and 4th place in RRRL World Championship in 2008.

Keywords

image sensors; mobile robots; service robots; telerobotics; USAR robot; camera view angle; isotropic bumping; robocup rescue robot league; robot crawler; teleoperated robot; touching object; urban search and rescue; Biomimetics; Cameras; Crawlers; Degradation; Human robot interaction; Mobile robots; Robot vision systems; Safety; Shape; Spirals;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-2678-2

Electronic_ISBN

978-1-4244-2679-9

Type

conf

DOI

10.1109/ROBIO.2009.4913306

Filename

4913306