WHAT RANGE OF VISIBLE AREA IS ENOUGH FOR TELEOPERATION OF FLEXIBLE MONO-TREAD MOBILE TRACK? |
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| Tetsuya Kinugasa, Ryuto Iwado, Naoki Miyamoto, Koji Yoshida, Takafumi Haji, Masamitsu Kurisu, Masayuki Okugawa, Hisanori Amano, Ryota Hayashi |
- Abstract:
- The paper provides a shelled track using bent track shoes and a dual-camera system for flexible mono-tread mobile track (FMT). Some previous prototypes of FMT could traverse on various rough terrains. However, an edge of the track shoe deflected when they touched to a prominence of obstacles and interfered to the body. The side surface of the FMT was not covered with the track shoe; thus, the weak parts made of ABS plastic were broken. Moreover, there is no practical camera system for teleoperation of FMT. Generally, a bird’s-eye view is practical for teleoperation of a small ground vehicle. However, a camera (sometime with a long arm) and a laser sensor for the bird’s-eye view implemented on the robot’s deck is not suitable to take advantage of FMT, i.e., almost all the surface is covered by the track belt. Therefore, we introduce a prototype, RT05-COBRA with shelled track shoes, propose a dual-camera system covered a wide-range in a horizontal plane for FMT, and evaluate its mobility under teleoperation.
- Keywords:
- shelled track, tracked vehicle, camera system
- Download:
- IMEKO-WC-2015-TC17-346.pdf
- DOI:
- -
- Event details
- Event name:
- XXI IMEKO World Congress
- Title:
Measurement in Research and Industry
- Place:
- Prague, CZECH REPUBLIC
- Time:
- 30 August 2015 - 04 September 2015