Authors
Noritaka Sato*, Kotaro Ohshima, Yoshifumi Morita
Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Gokiso-cho, Syowa-ku, Nagoya, Aichi 466-8555, Japan
*Corresponding author. E-mail: [email protected]
Corresponding Author
Noritaka Sato
Received 3 November 2018, Accepted 20 November 2018, Available Online 10 September 2019.
DOI
https://doi.org/10.2991/jrnal.k.190828.008How to use a DOI?
Keywords
Rescue robot; tumble avoidance; normalized energy stability margin; 3D depth sensor
Abstract
Rescue robots are expected to perform works in hazardous areas. However, when the robot runs on a rough terrain, fatal rollover falling sometimes occurs. Therefore, we propose a tumble-risk-assessment system, which calculates a normalized energy stability margin by using a 3D depth sensor. Moreover, a control system to avoid the tumble situation by moving the sub-crawlers automatically is proposed. We implemented the proposed systems to a real robot, carried out experiments, and confirmed the effectiveness of the proposed method.
Copyright
© 2019 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).