MOBILE ROBOT SYSTEM WITH TRANSFORMABLE CRAWLER, INTELLIGENT GUIDANCE, AND FLEXIBLE MANIPULATOR. .

Masakatsu Fujie, Yuji Hosoda, Taro Iwamoto, Koji Kamejima, Yoshiyuki Nakano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationUnknown Host Publication Title
EditorsO.D. Faugeras, Georges Giralt
Place of PublicationCambridge, MA, USA
PublisherMIT Press
Pages341-347
Number of pages7
ISBN (Print)0262061015
Publication statusPublished - 1986
Externally publishedYes

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Fujie, M., Hosoda, Y., Iwamoto, T., Kamejima, K., & Nakano, Y. (1986). MOBILE ROBOT SYSTEM WITH TRANSFORMABLE CRAWLER, INTELLIGENT GUIDANCE, AND FLEXIBLE MANIPULATOR. . In O. D. Faugeras, & G. Giralt (Eds.), Unknown Host Publication Title (pp. 341-347). MIT Press.