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휠-트랙 하이브리드 모바일 로봇 플랫폼의 지형 적응성 및 사용자 친화성 향상을 위한 원격 조종기 설계와 개발

Title
휠-트랙 하이브리드 모바일 로봇 플랫폼의 지형 적응성 및 사용자 친화성 향상을 위한 원격 조종기 설계와 개발
Translated Title
Design and Development of Terrain-adaptive and User-friendly Remote Controller for Wheel-Track Hybrid Mobile Robot Platform
Authors
Kim, Yoon GuAn, Jin UngKwak, Jeong HwanMoon, Jeon Il
DGIST Authors
An, Jin UngMoon, Jeon Il
Issue Date
2011
Citation
Journal of Institute of Control, Robotics and Systems, 17(6), 558-565
Type
Article
Article Type
Article
Keywords
Design and DevelopmentDriving ModeHazardous EnvironmentHybrid RobotsIndustrial RobotsIntuitive SteeringLandformsMobile RobotMobile Robot PlatformsMobile RobotsNavigationNavigation ModesNavigation PerformanceRemote ControlRemote ControllersRobot PlatformSearch and RescueTelecontrol EquipmentTerrain-AdaptiveWheel-Track HybridWheels
ISSN
1976-5622
Abstract
Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for surveillance, reconnaissance, search and rescue, etc. We considered a terrain-adaptive and transformable hybrid robot platform that is equipped with rapid navigation capability on flat floors and good performance in overcoming stairs or obstacles. The navigation mode transition is determined and implemented by adaptive driving mode control of the mobile robot. In order to maximize the usability of wheel-track hybrid robot platform, we propose a terrain-adaptive and user-friendly remote controller and verify the efficiency and performance through its navigation performance experiments in real and test-bed environments. © ICROS 2011.
URI
http://hdl.handle.net/20.500.11750/1625
DOI
10.5302/J.ICROS.2011.17.6.558
Publisher
Institute of Control, Robotics and Systems
Related Researcher
Files:
There are no files associated with this item.
Collection:
ETC1. Journal Articles
Convergence Research Center for Collaborative Robots1. Journal Articles


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