Redesign of rescue mobile robot Quince

Nagatani, Keiji; Kiribayashi, Seiga; Okada, Yoshito; Tadokoro, Satoshı; Nishimura, Takeshi; Yoshida, Tomoaki; Koyanagi, Eiji; Hada, Yasushi

doi:10.1109/ssrr.2011.6106794

Cited by 190 publications

(80 citation statements)

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“…radiation) area where it was deployed (For e.g. [1]). Also, the robot's energy autonomy should be optimized to provide more flexibility in possible interventions (in terms of distance travelled and mission time).…”

Section: Introductionmentioning

confidence: 99%

Model Based On-Line Energy Prediction System for Semi-autonomous Mobile Robots

Parasuraman¹,

Kershaw²,

Pagala³

et al. 2014

2014 5th International Conference on Intelligent Systems, Modelling and Simulation

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-Maximizing energy autonomy is a consistent challenge when deploying mobile robots in ionizing radiation or other hazardous environments. Having a reliable robot system is essential for successful execution of missions and to avoid manual recovery of the robots in environments that are harmful to human beings. For deployment of robots missions at short notice, the ability to know beforehand the energy required for performing the task is essential. This paper presents a on-line method for predicting energy requirements based on the pre-determined power models for a mobile robot. A small mobile robot, Khepera III is used for the experimental study and the results are promising with high prediction accuracy. The applications of the energy prediction models in energy optimization and simulations are also discussed along with examples of significant energy savings.

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Section: Introductionmentioning

confidence: 99%

Model Based On-Line Energy Prediction System for Semi-autonomous Mobile Robots

Parasuraman¹,

Kershaw²,

Pagala³

et al. 2014

2014 5th International Conference on Intelligent Systems, Modelling and Simulation

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“…The running speed of the main tracks was set at 5 cm/s and −5 cm/s for the ascending and descending tests, respectively. For (2) and (3), we set the friction coefficient to = 0.74[-] based on our preliminary test. The margin of the rear subtrack required to prevent contact with the lower floor was set as = 6…”

Section: Test Procedurementioning

confidence: 99%

“…Quince [1] is a typical example of such a multi-DOF tracked robot. It explored buildings that were affected by the meltdown accident in the Fukushima Daiichi nuclear power plant [2]. Such a multi-DOF tracked robot has main tracks that constitute a skid-steered mobile base, and each one rotates independently.…”

Section: Introductionmentioning

confidence: 99%

Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors

Endo

Watanabe

Nagatani

2017

Journal of Robotics

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In search-and-rescue missions, multi-degrees-of-freedom (DOF) tracked robots that are equipped with subtracks are commonly used. These types of robots have superior locomotion performance on rough terrain. However, in teleoperated missions, the performance of tracked robots depends largely on the operators' ability to control every subtrack appropriately. Therefore, an autonomous traversal function can significantly help in the teleoperation of such robots. In this paper, we propose a planning and control method for 4-DOF tracked robots climbing up/down known stairs automatically based on internal sensors. Experimental results obtained using mockup stairs verify the effectiveness of the proposed method.

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“…From the September 11 attacks [1] to the more recent earthquake in Fukushima [2], a growth can be noted in the use of robots in service and rescue scenarios [3].…”

Section: Introductionmentioning

confidence: 99%