Experimental evaluation of a tele-operated robot system in traversing a narrow path

Zhefu Du, Zheng Zhang, Yuta Naito, Satoru Miki, Nobuto Matsuhira

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Tele-operated robot systems are expected to greatly assist humans in dangerous environments, such as natural disaster sites. Thus, we have developed a mobile robot system that is tele-operated via the Internet from any location and is capable of traversing narrow paths. Herein, we developed a control algorithm for traversing a narrow path and experimentally verified the ability of the robot iws09 which was 370 mm in diameter, to automatically pass through a narrow path having a clearance of 40 mm on both sides without collisions. Furthermore, the wheel-driving characteristics of the robot were verified. The function of traversing a narrow path will be helpful to support an operator remotely controlling the robot. Next, we will develop a mobile robot control system to cope with other situations.

Original languageEnglish
Title of host publicationProceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages821-826
Number of pages6
ISBN (Electronic)9781538660720
DOIs
Publication statusPublished - 2018 Oct 5
Event15th IEEE International Conference on Mechatronics and Automation, ICMA 2018 - Changchun, China
Duration: 2018 Aug 52018 Aug 8

Publication series

NameProceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018

Other

Other15th IEEE International Conference on Mechatronics and Automation, ICMA 2018
CountryChina
CityChangchun
Period18/8/518/8/8

Keywords

  • Experimental validation
  • Mobile robot
  • Narrow path
  • Object avoidance
  • Tele-operation

ASJC Scopus subject areas

  • Biomedical Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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  • Cite this

    Du, Z., Zhang, Z., Naito, Y., Miki, S., & Matsuhira, N. (2018). Experimental evaluation of a tele-operated robot system in traversing a narrow path. In Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018 (pp. 821-826). [8484706] (Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2018.8484706