Rapid Movement of a Crawler Robot Over Rough Terrain Having a Human-Like Upper Body With Intuitive Remote Control

Fukuoka, Yasuhiro; Hoshi, Katsuyuki; Minakata, Nao; Imai, Yoshihiro; Nakamura, Masami; Inoue, Katsuma; Shiroma, Naoji; Mori, Yuta

doi:10.1142/9789814329927_0104

Cited by 1 publication

(1 citation statement)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, with the addition of the IAAS, Kurogane can autonomously adapt to the terrain, reducing the need for information processing and precise operation. Thus, the main aim of developing a UGV capable of rapidly navigating over rough variable terrain with a simple operation has been achieved (Fukuoka et al, 2010). It is difficult to evaluate the effectiveness of Kurogane with the IAAS quantitatively and analytically.…”

Section: Evaluation Of the Iaas By Climbing A Step In Simulation And mentioning

confidence: 99%

Negotiating Uneven Terrain with a Compliant Designed Unmanned Ground Vehicle Equipped with Locomotive Master‐Slave Operation

Fukuoka

Hoshi²,

Kurosawa

2013

Journal of Field Robotics

View full text Add to dashboard Cite

In recent years, a number operational unmanned ground vehicles (UGVs) have been developed that can negotiate irregular terrain. They have a number of degrees-of-freedom (DOF) giving them enhanced mobility, e.g., the ability to climb stairs and over obstacles. However, operating them remotely is complicated because their controllers are similar to conventional control pads or joysticks used in computer games or toys. It is hard for the operator to achieve an intuitive and natural feel, thus mistakes are common. To intuitively control the locomotion of a UGV with many DOFs, a master-slave operation was implemented. A novel UGV called Kurogane, which consists of a typical crawler combined with a human-like torso section, was developed. The torso section is controlled via a wearable controller interface. In addition, the UGV is equipped with models of muscle viscoelasticity and stretch reflex, called the involuntary autonomous adaptation system, inspired by the adaptive compliance of animals. The proposed system can autonomously and flexibly react and adapt to irregular terrain in real time. Therefore, the operation of Kurogane is simple and does not require great skill or precision. Experimental results show that it performs well over a fixed step, stairs, and rough outdoor terrain. C

show abstract

Section: Evaluation Of the Iaas By Climbing A Step In Simulation And mentioning

confidence: 99%

Negotiating Uneven Terrain with a Compliant Designed Unmanned Ground Vehicle Equipped with Locomotive Master‐Slave Operation

Fukuoka

Hoshi²,

Kurosawa

2013

Journal of Field Robotics

View full text Add to dashboard Cite

show abstract

Rapid Movement of a Crawler Robot Over Rough Terrain Having a Human-Like Upper Body With Intuitive Remote Control

Cited by 1 publication

References 0 publications

Negotiating Uneven Terrain with a Compliant Designed Unmanned Ground Vehicle Equipped with Locomotive Master‐Slave Operation

Negotiating Uneven Terrain with a Compliant Designed Unmanned Ground Vehicle Equipped with Locomotive Master‐Slave Operation

Contact Info

Product

Resources

About