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

doi:10.1109/ROBOT.2009.5152513

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

Real world robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

16 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 language	English
Title of host publication	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages	1851-1856
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2009.5152513
Publication status	Published - 2009
Event	2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan Duration: May 12 2009 → May 17 2009

Publication series

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

Other

Other	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Country/Territory	Japan
City	Kobe
Period	5/12/09 → 5/17/09

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2009.5152513

Cite this

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

HELIOS carrier: Tail-like mechanism and control algorithm for stable motion in unknown environments. / Guarnieri, M.; Debenest, P.; Inoh, T. et al.
2009 IEEE International Conference on Robotics and Automation, ICRA '09. 2009. p. 1851-1856 5152513 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 5152513, Proceedings - IEEE International Conference on Robotics and Automation, pp. 1851-1856, 2009 IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 5/12/09. https://doi.org/10.1109/ROBOT.2009.5152513

Guarnieri M, Debenest P, Inoh T, Takita K, Masuda H, Kurazume R et al. 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. 2009. p. 1851-1856. 5152513. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ROBOT.2009.5152513

@inproceedings{d7bc60e10bdd440bb987bed1af302dc3,

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

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.",

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

year = "2009",

doi = "10.1109/ROBOT.2009.5152513",

language = "English",

isbn = "9781424427895",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "1851--1856",

booktitle = "2009 IEEE International Conference on Robotics and Automation, ICRA '09",

}

TY - GEN

T1 - HELIOS carrier

T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09

AU - Guarnieri, M.

AU - Debenest, P.

AU - Inoh, T.

AU - Takita, K.

AU - Masuda, H.

AU - Kurazume, R.

AU - Fukushima, E.

AU - Hirose, S.

PY - 2009

Y1 - 2009

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=70350349726&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=70350349726&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2009.5152513

DO - 10.1109/ROBOT.2009.5152513

M3 - Conference contribution

AN - SCOPUS:70350349726

SN - 9781424427895

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 1851

EP - 1856

BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09

Y2 - 12 May 2009 through 17 May 2009

ER -

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

Abstract

Publication series

Other

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this