Development of helios VII: an arm-equipped tracked vehicle for search and rescue operations

Guarnieri, Michele; Debenest, R.; Inoh, Takao; Fukushima, Edwardo F.; Hirose, Shigeo

doi:10.1109/iros.2004.1389326

Cited by 30 publications

(22 citation statements)

References 17 publications

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“…In the first version of Helios VII, new powerful AC actuators have been utilized for the entire vehicle [3]. With the need to make the proposed system easily carried around and with the development ofnew light AC motors, the first version ofHelios VII has been realized.…”

Section: Development Ofhelios Vmmentioning

confidence: 99%

Introduction of Mission Unit on Information Collection by On-Rubble Mobile Platforms of Development of Rescue Robot Systems (DDT) Project in Japan

Matsuno

Hirose

Akiyama

et al. 2006

2006 SICE-ICASE International Joint Conference

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Intelligent rescue systems with high information and robot technology have been expected to mitigate disaster damages, especially in Japan after the 1995 Hanshin-Awaji Earthquake. In development ofrobots for search and rescue tasks it is important to develop a robot which can actually work in a real disaster site. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. From 2002 "Special Project for Earthquake Disaster Mitigation in Urban Areas" (5 yeras project) launched by Ministry of Education, Culture, Sports, Science and Technology, Japan. It aims at significant mitigation the earthquake disaster damage on the scale ofthe Great Hanshin Earthquake, in densely populated areas in big city regions such as Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit on the information collection by on-rubble mobile platforms.

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Section: Development Ofhelios Vmmentioning

confidence: 99%

Introduction of Mission Unit on Information Collection by On-Rubble Mobile Platforms of Development of Rescue Robot Systems (DDT) Project in Japan

Matsuno

Hirose

Akiyama

et al. 2006

2006 SICE-ICASE International Joint Conference

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“…Some typical works are listed below. (1) HELIOS VII (Guarnieri et al, 2004) Fig. 8(a) HELIOS VII consists of two tracks and an arm.…”

Section: Other Systems With Similar Conceptmentioning

confidence: 99%

Development of Arm Equipped Single Wheel Rover: Effective Arm-Posture-Based Steering Method

2005

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We have been proposing a new planetary rover system named "SMC Rover". This system consists of one main body and detachable units, which can work as child rovers, and also become driving units of the main body. Each detachable unit named "Uni-Rover" consists of a single manipulator mounted on a wheel. Prototype models of the Uni-Rover and the SMC Rover have been already developed. This paper describes a new method of trajectory modeling for the Uni-Rover using the relation between arm posture and turning radius. At first, an intuitively recognizable model which uses zero slip angle is introduced. However, because this intuitive model has some problems, a new solution which considers the loss of friction on the wheel and on the caster is also discussed. The validity of the presented method is verified by experiments with an actual mechanical model. Moreover, an effective steering method which considers the margin of the energy stability is introduced.Keywords: SMC Rover, Uni-Rover, planetary rover, Super-Mechano-Colony, arm equipped single wheel rover, effective steering method

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“…When navigating over off-road and over uneven terrains, tracked mobile robots are attractive for their mechanical robustness due to their reduced number of degrees of freedom, and for their large stability and traction achieved by the large contact area formed between the tracks and the terrain. For these advantages, these robots are frequently used to traverse uneven terrains for applications such as search and rescue [18,19,20,21].…”

Section: Introductionmentioning

confidence: 99%

Pose estimation-based path planning for a tracked mobile robot traversing uneven terrains

Jun

Saut

Benamar

2016

Robotics and Autonomous Systems

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A novel path-planning algorithm is proposed for a tracked mobile robot to traverse uneven terrains, which can efficiently search for stability sub-optimal paths. This algorithm consists of combining two RRT-like algorithms (the Transition-based RRT (T-RRT) and the Dynamic-Domain RRT (DD-RRT) algorithms) bidirectionally and of representing the robot-terrain interaction with the robot's quasi-static tip-over stability measure (assuming that the robot traverses uneven terrains at low speed for safety). The robot's stability is computed by first estimating the robot's pose, which in turn is interpreted as a contact problem, formulated as a linear complementarity problem (LCP), and solved using the Lemke's method (which guarantees a fast convergence). The present work compares the performance of the proposed algorithm to other RRT-like algorithms (in terms of planning time, rate of success in finding solutions and the associated cost values) over various uneven terrains and shows that the proposed algorithm can be advantageous over its counterparts in various aspects of the planning performance.

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Development of helios VII: an arm-equipped tracked vehicle for search and rescue operations

Cited by 30 publications

References 17 publications

Introduction of Mission Unit on Information Collection by On-Rubble Mobile Platforms of Development of Rescue Robot Systems (DDT) Project in Japan

Introduction of Mission Unit on Information Collection by On-Rubble Mobile Platforms of Development of Rescue Robot Systems (DDT) Project in Japan

Development of Arm Equipped Single Wheel Rover: Effective Arm-Posture-Based Steering Method

Pose estimation-based path planning for a tracked mobile robot traversing uneven terrains

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