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Rescue Robot Navigation: Static Stability Estimation in Random Step Environment

Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5325)

Abstract

Rescue robotics is the application of robotics to the search and rescue domain. The goal of rescue robotics is to extend the capabilities of human rescuers while also increasing their safety. During the rescue mission the mobile robot is deployed on the site, while the human operator is monitoring the robot’s activities and giving the orders from a safe place. Thus the operator can not see the robot and the environment and a decision on the robot’s path selection becomes very hard. Our goal is to provide a kind of automatic “pilot system” to propose an operator a good direction or several options to traverse the environment, taking into account the robot’s static and dynamic properties. In this paper we present an algorithm for estimating the posture of the robot in a specific configuration from the static equilibrium point of view. The results obtained by the simulator agree with our prior expectations and were successfully confirmed by the set of experiments with a real robot.

Keywords

Contact Force Mobile Robot Real Robot Legged Robot Pilot System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  1. 1.ROBOKEN - Intelligent Robot LaboratoryUniversity of TsukubaJapan
  2. 2.Future Robotics Technology CenterChiba Institute of TechnologyJapan

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