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This work presents the development of an arm-equipped tracked vehicle named HELIOS IX for search and rescue tasks in urban environments. HELIOS IX operator has to tele-operate several tasks such as opening of doors, negotiation of stairs and handling objects. However due to the complexity and kinematics of the system, these tasks are difficult to be carried out without some level of automation. This...
In this paper, we discuss a robot vision in order to perceive people and the environment around a mobile robot. We developed a tele-operated mobile robot with a pan-tilt mechanism composed of a camera and a laser range finder (LRF). In this paper, we propose a method for sensor fusion to extract a human from the measured data by integrating these outputs based on the concept of synthesis. Next, we...
Plasma-RX is a team of robots for search and rescue mission in an urban environment. The robot configuration contains differential drive tracks with front/rear flippers and serial-link arms equipped with cameras. They contain many sensors: thermopile array, CO2 sensor, microphone, tilt sensor, digital compass and laser range finder. For low level control of robots, a processor Arm7 and a special-purpose...
We developed a rescue robot system, which allows efficient utilization of the potentials of a robot, by effectively switching between tele-operation mode and autonomous mode based on the task and the operation environment. Rescue robots are mobile sytems which can perform search for human lives, on behalf of rescue personnel, in dangerous environments like earthquack disaster zones or areas with chemical...
In the context of the 2008 Lunar Robotics Challenge (LRC) of the European Space Agency (ESA), the Jacobs Robotics team investigated three-dimensional (3-D) perception and modeling as an important basis of autonomy in unstructured domains. Concretely, the efficient modeling of the terrain via a 3D laser range finder (LRF) is addressed. The underlying fast extraction of planar surface patches can be...
Localization and mapping are essential elements in the design of mobile robots used for search and rescue mission. Localization is a key-function of remote control and mapping in an unstructured environment. However, in general, odometry in tracked vehicles is ambiguous because of the track slippage. To solve this problem, we developed a three-dimensional gyro-based odometry that considers the compensation...
Active flippers for tracked vehicles are very useful to improve traversability on uneven terrain. However it is widely known that control of flippers also increases the work-load for operators, particularly where the vehicle and the operator are far apart. To reduce the work-load, we aim to realize a sensor-based autonomous controller of flippers to enable a dasiasemi-autonomous operationpsila of...
In this paper, we discuss a robot vision in order to perceive people and the environment around a mobile robot. We developed a tele-operated mobile robot with a pan-tilt mechanism composed of a camera and a laser range finder (LRF). In this paper, we propose a method for sensor fusion to extract a human from the measured data by integrating these outputs based on the concept of synthesis. Next, we...
In order to search and rescue the victims in rubble effectively, a 3D map of the rubble is required. As a part of the national project of rescue robot system, we are investigating a method for constructing a 3D map of rubble by teleoperated mobile robots. In previous work, we have developed the second prototype of laser range finder for rubble measurement. The prototype laser range finder consists...
This paper describes a system which uses a mobile manipulator as a teleoperated tool for accessing and manipulating remote objects. This system attempts to answer the challenge of extending mobile robot potentials and usage in human daily life. The specific task we set up in this research is to help people buy fresh food in a supermarket from a remote location using the Internet. We built the prototype...
In order to search and rescue the victims in rubble effectively, a 3D map of the rubble is required. As a part of the national project of rescue robot system, we are investigating a method for constructing a 3D map of rubble by teleoperated mobile robots. In previous work, we have developed the second prototype of laser range finder for rubble measurement. The prototype laser range finder consists...
In this paper the authors present a novel method to deal with the time delay and narrow bandwidth limitations inherent to teleoperated mobile robotic systems. This method combines the visualization of two models of the teleoperated robot inside a 3D virtual environment (located in the human operator's side of the system) that represents the area surrounding it. One model represents the position and...
This paper demonstrates a reliable navigation of a mobile robot in outdoor environment. We fuse differential GPS and odometry data using the framework of extended Kalman filter to localize a mobile robot. And also, we propose an algorithm to detect curbs through the laser range finder. An important feature of road environment is the existence of curbs. The mobile robot builds the map of the curbs...
In this paper the authors present the current progress of a networked robotic system intended to be deployed at disaster areas. This system is formed by three mobile robots: two twin crawlers that would have search-and-recognition tasks gathering information about their surroundings, and an outdoor-wheeled rover that will approach the area and which will also carry the two crawlers. The communication...
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