Journal of Robotics, Networking and Artificial Life

Volume 6, Issue 2, September 2019, Pages 109 - 112

Tumble Avoidance System for Rescue Robot by Estimating the Contact Points using a 3D Depth Sensor

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: sato.noritaka@nitech.ac.jp
Corresponding Author
Noritaka Sato
Received 3 November 2018, Accepted 20 November 2018, Available Online 10 September 2019.
DOI
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 Atlantis Press SARL.
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/).

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Journal
Journal of Robotics, Networking and Artificial Life
Volume-Issue
6 - 2
Pages
109 - 112
Publication Date
2019/09/10
ISSN (Online)
2352-6386
ISSN (Print)
2405-9021
DOI
10.2991/jrnal.k.190828.008How to use a DOI?
Copyright
© 2019 The Authors. Published by Atlantis Press SARL.
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/).

Cite this article

TY  - JOUR
AU  - Noritaka Sato
AU  - Kotaro Ohshima
AU  - Yoshifumi Morita
PY  - 2019
DA  - 2019/09/10
TI  - Tumble Avoidance System for Rescue Robot by Estimating the Contact Points using a 3D Depth Sensor
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 109
EP  - 112
VL  - 6
IS  - 2
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.k.190828.008
DO  - 10.2991/jrnal.k.190828.008
ID  - Sato2019
ER  -