Semi-autonomous Flippers Control to Assist a Crawler Robot in Maneuvering over Rough Terrain without Terrain Information
We propose a passive semi-autonomous control law of flippers to assist a crawler-type robot with four flippers running over rough terrain. In the proposed method, the robot presses its flippers against the ground and controls the pressing force so that the flippers passively adapt to terrain and avo...
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| Published in | Shisutemu Seigyo Jouhou Gakkai rombunshi Vol. 38; no. 1; pp. 1 - 8 |
|---|---|
| Main Authors | , |
| Format | Journal Article |
| Language | Japanese |
| Published |
Kyoto
THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
15.01.2025
Japan Science and Technology Agency |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1342-5668 2185-811X 2185-811X |
| DOI | 10.5687/iscie.38.1 |
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| Abstract | We propose a passive semi-autonomous control law of flippers to assist a crawler-type robot with four flippers running over rough terrain. In the proposed method, the robot presses its flippers against the ground and controls the pressing force so that the flippers passively adapt to terrain and avoid overturning. The operator sets a common target angle for all flippers, and the actual flipper angles are “semi-autonomously” determined through the interaction between the limited maximum torque of flippers and the reaction force from the terrain. Since shape adaptation to terrain is passive, there's no need for environmental sensing and no risk of malfunction due to environmental sensor noise. Furthermore, as all flippers are driven independently, the robot can maintain its posture in roll directions, where the risk of overturning is high. Verification using the robot FUHGA3 with the proposed control law confirmed high mobility over rough terrain with simple maneuvers. |
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| AbstractList | We propose a passive semi-autonomous control law of flippers to assist a crawler-type robot with four flippers running over rough terrain. In the proposed method, the robot presses its flippers against the ground and controls the pressing force so that the flippers passively adapt to terrain and avoid overturning. The operator sets a common target angle for all flippers, and the actual flipper angles are “semi-autonomously” determined through the interaction between the limited maximum torque of flippers and the reaction force from the terrain. Since shape adaptation to terrain is passive, there's no need for environmental sensing and no risk of malfunction due to environmental sensor noise. Furthermore, as all flippers are driven independently, the robot can maintain its posture in roll directions, where the risk of overturning is high. Verification using the robot FUHGA3 with the proposed control law confirmed high mobility over rough terrain with simple maneuvers. |
| Author | Matsuno, Fumitoshi Michikawa, Ryohei |
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| Cites_doi | 10.1017/dmp.2022.98 10.1109/ICARCV.2016.7838672 10.1109/IROS.2007.4399428 10.1109/ROBIO.2004.1521744 10.1007/s13218-016-0444-x 10.1109/ICRA.2014.6907619 10.1109/LRA.2022.3185762 10.1109/ICUS.2017.8278337 10.1109/SSRR.2016.7784286 10.1109/SII46433.2020.9026250 |
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| References | [9] K. Ohno, S. Morimura, S. Tadokoro, E. Koyanagi and T. Yoshida: Semi-autonomous control of 6-DOF crawler robot having flippers for getting over unknown-steps; Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2559–2560 (2007) [6] D. Endo, A. Watanabe and K. Nagatani: Stair climbing control of 4-degrees-of-freedom tracked vehicle based on internal sensors; Proc. IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 112–117, IEEE (2016) [3] A. Watanabe, M. Okugawa, K. Ogane, T. Kimura, T. Kinugasa and Y. Ohtsubo: Effect of compliance on ground adaptability of crawler mobile robots with sub-crawlers: Proc. IEEE/SICE International Symposium on System Integration (SII), pp. 1348–1353, IEEE (2020) [7] T. Azayev and K. Zimmermann: Autonomous state-based flipper control for articulated tracked robots in urban environments; IEEE Robotics and Automation Letters, Vol. 7, No. 3, pp. 7794–7801 (2022) [4] J. Guo, J. Shi, W. Zhu and J. Wang: Approach to autonomous stair climbing for tracked robot; Proc. IEEE International Conference on Unmanned Systems (ICUS), pp. 182–186 (2018) [1] F. Li, S. Hou, C. Bu and B. Qu: Rescue robots for the urban earthquake environment; Disaster Medicine and Public Health Preparedness, Vol. 17, No. 6, pp. 1–5 (2023) [10] R. Sheh, S. Schwertfeger and A. Visser: 16 years of RoboCupRescue; Kunstliche Intelligenz, Vol. 30, No. 3-4, pp. 267–277 (2016) [2] F. Matsuno and S. Tadokoro: Rescue robots and systems in Japan; Proc. IEEE International Conference on Robotics and Biomimetics, pp. 12–20 (2004) [8] K. Zimmermann, P. Zuzanek, M. Reinstein and V. Hlavac: Adaptive traversability of unknown complex terrain with obstacles for mobile robots; Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 5177–5182, IEEE (2014) [5] M. Hatano and Y. Kitahara: Research on controls of sub crawlers for climbing up stairs with LRF for rescue robots; Proc. 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), pp. 1–6, IEEE (2016) 1 2 3 4 5 6 7 8 9 10 |
| References_xml | – reference: [6] D. Endo, A. Watanabe and K. Nagatani: Stair climbing control of 4-degrees-of-freedom tracked vehicle based on internal sensors; Proc. IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 112–117, IEEE (2016) – reference: [2] F. Matsuno and S. Tadokoro: Rescue robots and systems in Japan; Proc. IEEE International Conference on Robotics and Biomimetics, pp. 12–20 (2004) – reference: [4] J. Guo, J. Shi, W. Zhu and J. Wang: Approach to autonomous stair climbing for tracked robot; Proc. IEEE International Conference on Unmanned Systems (ICUS), pp. 182–186 (2018) – reference: [8] K. Zimmermann, P. Zuzanek, M. Reinstein and V. Hlavac: Adaptive traversability of unknown complex terrain with obstacles for mobile robots; Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 5177–5182, IEEE (2014) – reference: [1] F. Li, S. Hou, C. Bu and B. Qu: Rescue robots for the urban earthquake environment; Disaster Medicine and Public Health Preparedness, Vol. 17, No. 6, pp. 1–5 (2023) – reference: [3] A. Watanabe, M. Okugawa, K. Ogane, T. Kimura, T. Kinugasa and Y. Ohtsubo: Effect of compliance on ground adaptability of crawler mobile robots with sub-crawlers: Proc. IEEE/SICE International Symposium on System Integration (SII), pp. 1348–1353, IEEE (2020) – reference: [5] M. Hatano and Y. Kitahara: Research on controls of sub crawlers for climbing up stairs with LRF for rescue robots; Proc. 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), pp. 1–6, IEEE (2016) – reference: [7] T. Azayev and K. Zimmermann: Autonomous state-based flipper control for articulated tracked robots in urban environments; IEEE Robotics and Automation Letters, Vol. 7, No. 3, pp. 7794–7801 (2022) – reference: [9] K. Ohno, S. Morimura, S. Tadokoro, E. Koyanagi and T. Yoshida: Semi-autonomous control of 6-DOF crawler robot having flippers for getting over unknown-steps; Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2559–2560 (2007) – reference: [10] R. Sheh, S. Schwertfeger and A. Visser: 16 years of RoboCupRescue; Kunstliche Intelligenz, Vol. 30, No. 3-4, pp. 267–277 (2016) – ident: 1 doi: 10.1017/dmp.2022.98 – ident: 5 doi: 10.1109/ICARCV.2016.7838672 – ident: 9 doi: 10.1109/IROS.2007.4399428 – ident: 2 doi: 10.1109/ROBIO.2004.1521744 – ident: 10 doi: 10.1007/s13218-016-0444-x – ident: 8 doi: 10.1109/ICRA.2014.6907619 – ident: 7 doi: 10.1109/LRA.2022.3185762 – ident: 4 doi: 10.1109/ICUS.2017.8278337 – ident: 6 doi: 10.1109/SSRR.2016.7784286 – ident: 3 doi: 10.1109/SII46433.2020.9026250 |
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| SubjectTerms | autonomous flipper Control theory Robot learning Robots Rough terrain semi-autonomy tracked robot |
| Title | Semi-autonomous Flippers Control to Assist a Crawler Robot in Maneuvering over Rough Terrain without Terrain Information |
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