2007年
Development of an unit type robot "KOHGA2" with stuck avoidance ability
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10
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- 開始ページ
- 3877
- 終了ページ
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- 記述言語
- 英語
- 掲載種別
- DOI
- 10.1109/ROBOT.2007.364073
- 出版者・発行元
- IEEE
To search victims in the narrow space at the disaster site, we have developed the snake-like rescue robot called "KOHGA". The robot is constructed by connecting multiple crawler vehicles serially by active joints. KOHGA has a problem that obstacles are caught to the joints and then the robot is stuck. To solve this problem, we developed an unit assembled robot "KOHGA2". It can be rearranged. The robot can swing crawler-arms and avoid the stuck. In this paper, we report the construction of the hardware and the control system of KOHGA2, the basic mobility performance, and the stuck avoidance strategy.
- リンク情報
- ID情報
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- DOI : 10.1109/ROBOT.2007.364073
- ISSN : 1050-4729
- Web of Science ID : WOS:000250915303145