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This paper proposes a light-weight sensor platform that consists of gyro-assisted odometry and a 3D laser scanner for localization of human-scale robots. The gyro-assisted odometry provides highly accurate positioning only by dead-reckoning. The 3D laser scanner has a wide field of view and uniform measuring-point distribution. Robust and computationally inexpensive localization is implemented on...
The goal of rescue robotics is to extend the capabilities and to increase the safety of human rescue teams. During a rescue mission a mobile robot is deployed on a rescue site and is operated from a safe place by a human operator. The operator can not see the robot and the environment and a decision on the path selection is very complicated. Our goal is to provide a kind of automatic “pilot system”...
Mobile rescue robots used in search and rescue missions must be able to navigate in unknown environments and map these environments. In such situations, three-dimensional (3D) data obtained by a laser range finder is very useful for supporting teleoperation of robots to locate victims and aid rescue crews in devising rescue strategies. However, when using conventional scanning systems to obtain such...
We are developing robots for inspection of the under floor of houses. The developed robot system is reported in this paper. The mobile robot platform is based on a crawer type robot developed for rescue purposes. As sensors, a pan-tilt-zoom camera, top-view camera and SOKUIKI sensor are used. We constructed a test field and verified the performance of the robot.
This paper describes a mobile manipulator system as a versatile platform for home service. Two key technologies are addressed in the paper. One is the efficient and easy recognition of environment about geometrical, physical and additional information by a sensor fusion system consisting of RFID, stereo camera and laser range sensor. The other is such geometrical, physical and additional information-based...
A rescue crawler robot having flipper arm has high ability to get over rough terrain, but it is hard to control its flippers in remote control. The authors aim at development of a semi-autonomous control system for the crawler robot. In the system, moving direction is specified by an operator at remote place. Joypad (Sony PS2 controller) is used as input devise. For increasing its stability and robustness...
In this paper, we summarize the findings and know-hows in the individual developments and try to establish guidelines of human-interface design of rescue robots. These guidelines would be useful for the future development of rescue robots. Preliminary guidelines were set from some case studies of the DDT project and RoboCup Rescue. A trial towards the standardized interface is also shown
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