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This paper proposes a novel design strategy and task‐priority‐based control methodology for a robot to successfully complete a rescue operation in an extremely unstructured environment. The mechanical structure is designed to obtain both versatile manipulability and all‐terrain mobility. The regularized hierarchical quadratic program is used for whole‐body motion and force control. The optimization...
Man has always tried to make new systems, which can do his difficult tasks. Manage and control of such new complex systems is new challenge in our life. Today, one solution to deal with this challenge is using advantage of features of autonomy. It means that instead of managing and controlling the entire system, each component or at least part of the system can manage or control itself even in unpredictable...
Two types of rescue inspectors are presented in order to enhance accessibility of disastrous sites. One is a rolling and jumping mobile inspector, which uses a pneumatic cylinder to jump over obstacles, and the other one is the throw and collect type rescue inspector, which deploys a child machine over high obstacles using a pneumatic cylinder In order to enhance their traversing ability, in this...
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