The intelligent mobile function must be small, light, and fast moving. We have developed new robot technologies consisting of 1) a crawler-type moving mechanism, in which robot posture is controlled to fit road conditions, 2) a guidance system, in which viewing and proximate information related to surrounding structures such as doors, walls, etc. , is compared with stored map information to determine the speed of the crawler, and 3) a manipulator mechanism which has six degrees of freedom and force feedback control. In addition, to evaluate robot performance, we set up a model terrain consisting of a corridor with vertical angle corners, a door, stairs, a step, and an obstacle which the robot must avoid. By incorporating these technologies, an autonomous robot can detour or overstep stairs or obstacles to reach its destination.
|Title of host publication||Unknown Host Publication Title|
|Editors||O.D. Faugeras, Georges Giralt|
|Place of Publication||Cambridge, MA, USA|
|Number of pages||7|
|Publication status||Published - 1986|
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