ICRA'09 Paper Abstract


Paper FrA10.2

Guarnieri, Michele (Tokyo Institute of Technology), Debenest, Paulo (Tokyo Institute of Technology), Inoh, Takao (E-N studio), TAKITA, Kensuke (HiBot Corp.), Masuda, Hiroshi (Kyushu University), Kurazume, Ryo (Kyushu University), Fukushima, Edwardo F. (Tokyo Institute of Technology), Hirose, Shigeo (Tokyo Institute of Technology)

HELIOS Carrier: Tail-Like Mechanism and Control Algorithm for Stable Motion in Unknown Environments

Scheduled for presentation during the Regular Sessions "Field Robots - III" (FrA10), Friday, May 15, 2009, 08:50−09:10, Room: 502

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Search and Rescue Robots, Robotics in Hazardous Fields, Field Robots


Mobile platforms when negotiating steps and stairs should be able to control theirs posture in order to avoid sudden tilting or falls. In particular, when considering applications for search and rescue operations where users have a very limited time of operation, the motion on stairs should be automated as much as possible. In this way operators can concentrate on their tasks (i.e. search of survivors and/or exploration of dangerous environments) rather than having to focus on the stability of the vehicle. A simple but very effective mechanism called "tail" is introduced. The mechanical design and its control method is presented together with several tests and experiments carried out with a simple tracked vehicle in real environments.



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