![](/images/graphics-bg.png)
Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors
Joint Authors
Endo, Daisuke
Watanabe, Atsushi
Nagatani, Keiji
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-18, 18 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-10-11
Country of Publication
Egypt
No. of Pages
18
Main Subjects
Abstract EN
In search-and-rescue missions, multi-degrees-of-freedom (DOF) tracked robots that are equipped with subtracks are commonly used.
These types of robots have superior locomotion performance on rough terrain.
However, in teleoperated missions, the performance of tracked robots depends largely on the operators’ ability to control every subtrack appropriately.
Therefore, an autonomous traversal function can significantly help in the teleoperation of such robots.
In this paper, we propose a planning and control method for 4-DOF tracked robots climbing up/down known stairs automatically based on internal sensors.
Experimental results obtained using mockup stairs verify the effectiveness of the proposed method.
American Psychological Association (APA)
Endo, Daisuke& Watanabe, Atsushi& Nagatani, Keiji. 2017. Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors. Journal of Robotics،Vol. 2017, no. 2017, pp.1-18.
https://search.emarefa.net/detail/BIM-1186389
Modern Language Association (MLA)
Endo, Daisuke…[et al.]. Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors. Journal of Robotics No. 2017 (2017), pp.1-18.
https://search.emarefa.net/detail/BIM-1186389
American Medical Association (AMA)
Endo, Daisuke& Watanabe, Atsushi& Nagatani, Keiji. Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors. Journal of Robotics. 2017. Vol. 2017, no. 2017, pp.1-18.
https://search.emarefa.net/detail/BIM-1186389
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1186389