A preliminary study on a groping framework without external sensors to recognize near-environmental situation for risk-tolerance disaster response robots

Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Yusuke Uehara, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

研究成果: Conference contribution

抄録

This paper proposes a basic near-environmental recognition framework based on groping for risk-tolerance disaster response robot (DRR). In extreme disaster sites, including high radiation and heavy smog, external sensors such as cameras and laser range finders do not work properly, and such sensors may be broken in accidents in the tasks. It is hoped that DRRs can continue to perform tasks, even if the external sensors cannot work, and at least, they can safely evacuate from the site. In this preliminary study, for recognizing near environments without using external sensors, we proposed a groping method. In this method, a robot actively touches the environment using arms or other movable parts, records the contact information, and then reconstructs a three-dimensional local map around the robot by the detected information, e.g., robot arm's position and reactive force. The proposed groping system can recognize the existence of three situations, such as an object, step, and pit, and those geometry, by exploring the designated space using arms. The groping strategy was designed considering both robot specification, time limitation, and required resolution. Experiments were performed using four-arm and four-crawler robot OCTOPUS. The results indicate that the proposed framework could recognize step, pit, and object, and calculate the position and size of the object, and confirm that the robot successfully removed the object on the basis of groped data.

元の言語English
ホスト出版物のタイトルSSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference
出版者Institute of Electrical and Electronics Engineers Inc.
ページ181-186
ページ数6
ISBN(電子版)9781538639221
DOI
出版物ステータスPublished - 2017 10 26
イベント15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017 - Shanghai, China
継続期間: 2017 10 112017 10 13

Other

Other15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017
China
Shanghai
期間17/10/1117/10/13

Fingerprint

Disaster
robot
Disasters
tolerance
Tolerance
disaster
Robot
Robots
Sensor
Sensors
Laser Range Finder
Range finders
Framework
Accidents
accident
Extremes
Continue
Camera
Cameras
Radiation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Safety, Risk, Reliability and Quality
  • Control and Optimization
  • Safety Research

これを引用

Chen, K., Kamezaki, M., Katano, T., Kaneko, T., Azuma, K., Uehara, Y., ... Sugano, S. (2017). A preliminary study on a groping framework without external sensors to recognize near-environmental situation for risk-tolerance disaster response robots. : SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference (pp. 181-186). [8088161] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSRR.2017.8088161

A preliminary study on a groping framework without external sensors to recognize near-environmental situation for risk-tolerance disaster response robots. / Chen, Kui; Kamezaki, Mitsuhiro; Katano, Takahiro; Kaneko, Taisei; Azuma, Kohga; Uehara, Yusuke; Ishida, Tatsuzo; Seki, Masatoshi; Ichiryu, Ken; Sugano, Shigeki.

SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference. Institute of Electrical and Electronics Engineers Inc., 2017. p. 181-186 8088161.

研究成果: Conference contribution

Chen, K, Kamezaki, M, Katano, T, Kaneko, T, Azuma, K, Uehara, Y, Ishida, T, Seki, M, Ichiryu, K & Sugano, S 2017, A preliminary study on a groping framework without external sensors to recognize near-environmental situation for risk-tolerance disaster response robots. : SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference., 8088161, Institute of Electrical and Electronics Engineers Inc., pp. 181-186, 15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017, Shanghai, China, 17/10/11. https://doi.org/10.1109/SSRR.2017.8088161
Chen K, Kamezaki M, Katano T, Kaneko T, Azuma K, Uehara Y その他. A preliminary study on a groping framework without external sensors to recognize near-environmental situation for risk-tolerance disaster response robots. : SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference. Institute of Electrical and Electronics Engineers Inc. 2017. p. 181-186. 8088161 https://doi.org/10.1109/SSRR.2017.8088161
Chen, Kui ; Kamezaki, Mitsuhiro ; Katano, Takahiro ; Kaneko, Taisei ; Azuma, Kohga ; Uehara, Yusuke ; Ishida, Tatsuzo ; Seki, Masatoshi ; Ichiryu, Ken ; Sugano, Shigeki. / A preliminary study on a groping framework without external sensors to recognize near-environmental situation for risk-tolerance disaster response robots. SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 181-186
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