Development of narrow space searching robot technology for detecting and rescuing burden in collapsed area
Introduction / Motivation
Research has been conducted on various techniques for accessing and performing missions at disaster sites inaccessible to humans. In this study, we intend to respond to the disaster scene through a snake-shaped robot that can perform tasks such as approaching a narrow area or supplying nutrients to isolated rescuers. In this institution, we study a controller including techniques for efficient manipulation of snake robots.
Research Territories
(1) Controller Interface
The snake robot proposed in this project must measure a large amount of information including 3D cameras and various environmental sensors, and inform the operator.
Therefore, it is necessary to design a GUI that can efficiently deliver such a large amount of information to the operator.
In addition, the design of a manipulator capable of controlling various motions of the snake robot having complex joints as the user intended should be performed in parallel.
This project conducts HRI studies on these GUIs and manipulators.
(2) Control Efficiency
Snake robots are deployed in complex and narrow areas and must operate in various environments.
In such an environment, the user may not be able to grasp the surrounding environment of the robot.
At this time, it is necessary to identify and change a control command that is not suitable for the environment by using various sensor information of the robot.
This task conducts research on a technique to compare, analyze, and change the information of various environmental sensors and the intention of the manipulator.
