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 language | English |
|---|---|
| Title of host publication | Unknown Host Publication Title |
| Editors | O.D. Faugeras, Georges Giralt |
| Place of Publication | Cambridge, MA, USA |
| Publisher | MIT Press |
| Pages | 341-347 |
| Number of pages | 7 |
| ISBN (Print) | 0262061015 |
| Publication status | Published - 1986 |
| Externally published | Yes |
ASJC Scopus subject areas
- Engineering(all)