Background
Disaster response robot “Scott I”
Dim. of the robot [mm] | Length × Width × Height |
---|---|
Max. | 720 × 390 × 145 |
Min. | 370 × 290 × 100 |
Timing pulley dia. [mm] | |
Large | 145 |
Small | 100 |
Belt width [mm] | |
Main crawler | 50.8 |
Sub-crawlers | 25.4 |
Weight [kg] | 20.0 |
Max. speed [m/s] | 0.35 |
Principle of traversing on simple step for crawler-type robot with passive sub-crawlers
Warning system
Necessity of warning system
Derivation of normalization energy stability margin
Verification of estimated center of gravity
Examination of threshold for warning system
Method for operation support
Methods
Experimental operation verification using Scott I
Experimental evaluation and consideration
Step height | Beginner | Expert | |
---|---|---|---|
Case 1 | 38.9 | 29.8 | |
Case 2 | 26.6 | 0 | |
Case 3 | 24.9 | 26.7 | |
Case 1 | 24.9 | 26.7 | |
Case 2 | 26.6 | 0 | |
Case 3 | 45.2 | 26.7 | |
Case 1 | 0 | 0 | |
Case 2 | 26.7 | 0 | |
Case 3 | 0 | 0 |