TY - GEN
T1 - Experimental evaluation of a tele-operated robot system in traversing a narrow path
AU - Du, Zhefu
AU - Zhang, Zheng
AU - Naito, Yuta
AU - Miki, Satoru
AU - Matsuhira, Nobuto
PY - 2018/10/5
Y1 - 2018/10/5
N2 - 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.
AB - 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.
KW - Experimental validation
KW - Mobile robot
KW - Narrow path
KW - Object avoidance
KW - Tele-operation
UR - http://www.scopus.com/inward/record.url?scp=85056342169&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85056342169&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2018.8484706
DO - 10.1109/ICMA.2018.8484706
M3 - Conference contribution
AN - SCOPUS:85056342169
T3 - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
SP - 821
EP - 826
BT - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Mechatronics and Automation, ICMA 2018
Y2 - 5 August 2018 through 8 August 2018
ER -