TY - GEN
T1 - MOBILE ROBOT SYSTEM WITH TRANSFORMABLE CRAWLER, INTELLIGENT GUIDANCE, AND FLEXIBLE MANIPULATOR. .
AU - Fujie, Masakatsu
AU - Hosoda, Yuji
AU - Iwamoto, Taro
AU - Kamejima, Koji
AU - Nakano, Yoshiyuki
PY - 1986
Y1 - 1986
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0022937632&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:0022937632
SN - 0262061015
SP - 341
EP - 347
BT - Unknown Host Publication Title
A2 - Faugeras, O.D.
A2 - Giralt, Georges
PB - MIT Press
CY - Cambridge, MA, USA
ER -