Development of a Tele-Operated Rescue Robot for a Disaster Response

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This paper proposes practical hardware design strategies and control methods for a rescue robot to save patients in disastrous environments. None of the existing humanoid robots have not shown the capability to efficiently execute rescue tasks for transferring a human to a safe place in a highly unstructured world. To resolve this problem a new form of powerful dual arm mechanism and hybrid tracked-legged mobile platform is developed and the motion is synthesized with dynamics based optimization and a modified hierarchical control scheme. These new design and control policies enable us to simultaneously enhance the manipulation performance and driving stability which have been verified through both in extensive numerical simulations and physical experiments where the rescue robot and whole-body control are indeed required.
Publisher
WORLD SCIENTIFIC PUBL CO PTE LTD
Issue Date
2018-08
Language
English
Article Type
Article
Keywords

MANIPULATORS; CHALLENGE; MOTIONS; JOINT

Citation

INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, v.15, no.4

ISSN
0219-8436
DOI
10.1142/S0219843618500081
URI
http://hdl.handle.net/10203/245183
Appears in Collection
ME-Journal Papers(저널논문)
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