Abstract
In search-and-rescue missions, multi-degrees-of-freedom (DOF) tracked robots that are equipped with subtracks are commonly used. These types of robots have superior locomotion performance on rough terrain. However, in teleoperated missions, the performance of tracked robots depends largely on the operators’ ability to control every subtrack appropriately. Therefore, an autonomous traversal function can significantly help in the teleoperation of such robots. In this paper, we propose a planning and control method for 4-DOF tracked robots climbing up/down known stairs automatically based on internal sensors. Experimental results obtained using mockup stairs verify the effectiveness of the proposed method.
Highlights
In search-and-rescue missions, it is widely known that multidegrees-of-freedom (DOF) tracked robots that are equipped with subtracks are very useful
In this paper, we propose an autonomous motion for a 4DOF tracked robot for climbing up/down a known flight of stairs based on the rotational velocity of the main tracks, the rotational position of the subtracks, and IMU (Inertial Measurement Unit) information, without any other external and internal sensors
We describe control methods to prevent the above two failure modes
Summary
In search-and-rescue missions, it is widely known that multidegrees-of-freedom (DOF) tracked robots that are equipped with subtracks are very useful. It explored buildings that were affected by the meltdown accident in the Fukushima Daiichi nuclear power plant [2]. Such a multi-DOF tracked robot has main tracks that constitute a skid-steered mobile base, and each one rotates independently. It is equipped with subtracks that connect to the main body with rotary joints at the front and rear of the main tracks. It has high traversability on rough terrain in spite of its relatively simple mechanism
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