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In this study, we aim to achieve path-planning for firefighter robots in large petrochemical complexes. In large environments, path-planning (e.g., Hybrid A*) requires a large computation memory and a long execution time. These constrains are not feasible for firefighter robots. In order to overcome these two challenges, we propose a two-stage hybrid A* path-planning. For the first stage we use a...
This paper proposes robust localization method using a free-space observation model with a 3D map for a particle filter. The free-space observation model judges whether the free space of a laser beam of a sensor is appropriate. The observation model realizes highly robust localization in outdoor environments with many unknown obstacles. This paper describes the free-space observation model and the...
The authors are researching about Three dimensional mapping using mobile robot and 3-D laser scanner. We developed 3-D laser scanner which can measure whole 3-D shape with a combination of 2-D laser scanner and Pan-Tilt base. However, measuring surrounding areas using the scanner on mobile robot, there are some areas where can't measure whole 3-D shape caused by overview camera and wireless LAN's...
The authors attempted to create a 3-D map of an underground mall and subway station using a tracked vehicle. This paper is a field report of the 3-D mapping of the Sendai subway station by the tracked vehicle in Dec. 2007. From the ticket barriers to the platform, the Sendai subway station consists of three floors. For the 3-D mapping, we developed a tracked vehicle named ??Kenaf??, a small and light-weight...
We have developed a new, three dimensional vocal tract mechanical model for an anthropomorphic talking robot WT-7R (Waseda Talker No. 7 Refined), to improve the resonance of the vocal tract. The Waseda Talker robot series aims to reproduce the human speech mechanism with three-dimensional accuracy. The tongue of the previous model, WT-7 (Waseda Talker No. 7), was made of rigid links and covered with...
In the case of simulators of mobile robots, it is necessary to clarify the similarity between actual and simulated robots in order to improve the efficiency and transparency of simulators as research tools. Because of its real-time performance, USAR-Sim [1] has been popularly used in studies involving human-robot interactions. However, since USARSim uses approximations and abbreviations in its physical...
We aim at developing an autonomous rollover protection system for rescue robots. In this study, we propose a method for autonomous rollover protection for tracked mobile robots using distributed touch sensors. We developed touch sensors for tracked robots, and we have also installed them into our developed tracked robot having four flipper arms. We have also explained the system construction and evaluation...
IRS Soryu is rescue robot which used for victim search in disaster area. We aim at development of display method for wide view angle and high definition images for controlling the rescue robots and searching for victims. In our study, we developed small size multi camera system and displayed a wide view angle and high definition image. However, it is too hard for an operator to recognize the robot...
In the search and rescue situation at the disaster area, the searching task should be conducted by robots in order to avoid the second disaster. We study crawler robots that can traverse rough terrains and are used in such search operations. This paper describes the designing of an online simulation environment using which we can develop control algorithms for crawler robots, especially for the robot...
We have developed a positioning system that uses a phased array sensor to measure the distance and direction of multiple landmarks relative to the position of a mobile robot so that the robot can self-localize. The positioning system can control the strength and the width of the beam from the phased array sensor and observe the multiple landmarks at the same time. By using the distance and direction...
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