HELIOS carrier: Tail-like mechanism and control algorithm for stable motion in unknown environments

M. Guarnieri, P. Debenest, T. Inoh, K. Takita, H. Masuda, R. Kurazume, E. Fukushima, S. Hirose

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages1851-1856
Number of pages6
DOIs
Publication statusPublished - Nov 2 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period5/12/095/17/09

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Guarnieri, M., Debenest, P., Inoh, T., Takita, K., Masuda, H., Kurazume, R., Fukushima, E., & Hirose, S. (2009). HELIOS carrier: Tail-like mechanism and control algorithm for stable motion in unknown environments. In 2009 IEEE International Conference on Robotics and Automation, ICRA '09 (pp. 1851-1856). [5152513] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2009.5152513