Tumble Avoidance System for Rescue Robot by Estimating the Contact Points using a 3D Depth Sensor
Noritaka Sato, Kotaro Ohshima, Yoshifumi Morita · Journal of Robotics Networking and Artificial Life · 2019
Rescue robot tumble avoidance normalized energy stability margin 3D depth sensor A B S T R A C TRescue robots are expected to perform works in hazardous areas.However, when the robot runs on a rough terrain, fatal rollover falling sometimes occurs.Therefore, we propose a tumble-risk-assessment system, which calculates a normalized energy stability margin by using a 3D depth sensor.Moreover, a control system to avoid the tumble situation by moving the sub-crawlers automatically is proposed.We implemented the proposed systems to a real robot, carried out experiments, and confirmed the effectiveness of the proposed method.