2P2-D16 クローラ型レスキューロボットの半自律制御システムの開発 : 上り段差におけるフリッパアーム制御則の検討

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  • 2P2-D16 Semi-autonomous Control System for Rescue Crawler Robot : Examination of control rule for climbing an bump

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The authors aim at development of a remote controlled robot system for victim search in collapsed environment. For this purpose, we are developing a crawler robot which has flipper crawler. Although the crawler robot can get over steps and obstacles, it is hard for the operator at remote place to control the flipper arm. For decreasing operator's labor, it is necessary to control it for semi-autonomy. Our research objective is semi-autonomous control of a crawler robot which has flipper crawler. In this paper, the authors explain our rule based approach for climbing an bump in semi-autonomous.

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