By Topic

Improvement of the remote operability for the arm-equipped tracked vehicle HELIOS IX

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Ueda, K. ; Fac. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Tokyo, Japan ; Guarnieri, M. ; Hodoshima, R. ; Fukushima, E.F.
more authors

This work presents the development of an arm-equipped tracked vehicle named HELIOS IX for search and rescue tasks in urban environments. HELIOS IX operator has to tele-operate several tasks such as opening of doors, negotiation of stairs and handling objects. However due to the complexity and kinematics of the system, these tasks are difficult to be carried out without some level of automation. This study proposes one of the shared autonomy type operator-supporting system for HELIOS IX. It is based on a laser range finder (LRF), finger-attached LED beam guiding systems and on a finger 3 axes force sensor interfaced by a novel reinforcing metal plate. Carrying out several experiments we could demonstrate that, tele-operation task can become easier by the introduction of the 3D space approaching assistance of the LRF, object grasping assistance of the LED beams attached on the fingers, and by the force following assistance of the force sensor attached to the wrist.

Published in:

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Date of Conference:

18-22 Oct. 2010