Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of Tele-operation Interface and Stable Navigation Strategy for Humanoid Robot Driving

휴머노이드 로봇의 안전한 차량 주행 전략 및 원격 제어 인터페이스 개발

  • Shin, Seho (Department of Transdisciplinary Studies, Seoul National University) ;
  • Kim, Minsung (Department of Transdisciplinary Studies, Seoul National University) ;
  • Ahn, Joonwoo (Department of Transdisciplinary Studies, Seoul National University) ;
  • Kim, Sanghyun (Department of Transdisciplinary Studies, Seoul National University) ;
  • Park, Jaeheung (Department of Transdisciplinary Studies, Seoul National University)
  • 신세호 (서울대학교 융합과학기술대학원) ;
  • 김민성 (서울대학교 융합과학기술대학원) ;
  • 안준우 (서울대학교 융합과학기술대학원) ;
  • 김상현 (서울대학교 융합과학기술대학원) ;
  • 박재흥 (서울대학교 융합과학기술대학원)
  • Received : 2016.08.09
  • Accepted : 2016.10.10
  • Published : 2016.11.01
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Abstract

This paper presents a novel driving system by the humanoid robot to drive a vehicle in disaster response situations. To enhance robot's capability for substituting human activities in responding to natural and man-made disaster, the one of prerequisite skills for the rescue robot is the mounted mobility to maneuver a vehicle safely in disaster site. Therefore, our driving system for the humanoid is developed in order to steer a vehicle through unknown obstacles even under poor communication conditions such as time-delay and black-out. Especially, the proposed system includes a tele-manipulation interface and stable navigation strategies. First, we propose a new type of path estimation method to overcome limited communication. Second, we establish navigation strategies when the operator cannot recognize obstacles based on Dynamic Window Approach. The effectiveness of the proposed developments is verified through simulation and experiments, which demonstrate suitable system for driving a vehicle in disaster response.

Keywords

References

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