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

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

*この研究の対応する著者

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルUnknown Host Publication Title
編集者O.D. Faugeras, Georges Giralt
Place of PublicationCambridge, MA, USA
出版社MIT Press
ページ341-347
ページ数7
ISBN(印刷版)0262061015
出版ステータスPublished - 1986
外部発表はい

ASJC Scopus subject areas

  • 工学(全般)

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