HapticV1, Main, Exploration, bibRecord, 006B35

Sensing system design and Torque analysis of a haptic operated climbing robot

Identifieur interne : 006B35 ( Main/Exploration ); précédent : 006B34; suivant : 006B36

Sensing system design and Torque analysis of a haptic operated climbing robot

Auteurs : Chulsoo Kim [Corée du Sud] ; Sangseok Yun [Corée du Sud] ; Kyihwan Park [Corée du Sud] ; Changhwan Choi [Corée du Sud] ; Seungho Kim [Corée du Sud]

Source :

RBID : Pascal:06-0459521

Descripteurs français

Pascal (Inist)
- Robot mobile, Robotique, Terrorisme, Mesure couple, Sensibilité tactile, Comportement grimpeur, Risque accidentel, Escalier, Interface utilisateur, Moteur électrique, Couple moteur, Moteur couple, Entraînement moteur électrique, Equipement entrée sortie, ..
Wicri :
- topic : Robotique, Terrorisme.

English descriptors

KwdEn :
- Climbing behavior, Electric motor, Hazard, Input output equipment, Motor drives, Motor torque, Moving robot, Robotics, Stair, Tactile sensitivity, Terrorism, Torque measurement, Torque motors, User interface.

Abstract

The robots operating in hazardous environments such as nuclear plant decommissioning or terrorist bomb disposal need to show off-road capabilities due to the uneven terrain including stairs and ditches. The hazardous environment operation typically requires the use of a remotely operated robot In this paper we propose an improved articulated track mechanism. A sensing system for haptic operation with a joystick is proposed considering the robot contacts to the stair. Additionally, we present the algorithm for the proposed robot to climb the stairs. Torque analysis is made to design electrical motors which produce torque enough to drive the track lifting motor and track rotating motor.

Affiliations:

Corée du Sud

Links toward previous steps (curation, corpus...)

to stream PascalFrancis, to step Corpus: 000C59
to stream PascalFrancis, to step Curation: 000847
to stream PascalFrancis, to step Checkpoint: 000C22
to stream Main, to step Merge: 006F44
to stream Main, to step Curation: 006B35

Le document en format XML

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<author><name sortKey="Kim, Chulsoo" sort="Kim, Chulsoo" uniqKey="Kim C" first="Chulsoo" last="Kim">Chulsoo Kim</name>
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<author><name sortKey="Kim, Chulsoo" sort="Kim, Chulsoo" uniqKey="Kim C" first="Chulsoo" last="Kim">Chulsoo Kim</name>
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<author><name sortKey="Yun, Sangseok" sort="Yun, Sangseok" uniqKey="Yun S" first="Sangseok" last="Yun">Sangseok Yun</name>
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<term>Electric motor</term>
<term>Hazard</term>
<term>Input output equipment</term>
<term>Motor drives</term>
<term>Motor torque</term>
<term>Moving robot</term>
<term>Robotics</term>
<term>Stair</term>
<term>Tactile sensitivity</term>
<term>Terrorism</term>
<term>Torque measurement</term>
<term>Torque motors</term>
<term>User interface</term>
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<keywords scheme="Pascal" xml:lang="fr"><term>Robot mobile</term>
<term>Robotique</term>
<term>Terrorisme</term>
<term>Mesure couple</term>
<term>Sensibilité tactile</term>
<term>Comportement grimpeur</term>
<term>Risque accidentel</term>
<term>Escalier</term>
<term>Interface utilisateur</term>
<term>Moteur électrique</term>
<term>Couple moteur</term>
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<front><div type="abstract" xml:lang="en">The robots operating in hazardous environments such as nuclear plant decommissioning or terrorist bomb disposal need to show off-road capabilities due to the uneven terrain including stairs and ditches. The hazardous environment operation typically requires the use of a remotely operated robot In this paper we propose an improved articulated track mechanism. A sensing system for haptic operation with a joystick is proposed considering the robot contacts to the stair. Additionally, we present the algorithm for the proposed robot to climb the stairs. Torque analysis is made to design electrical motors which produce torque enough to drive the track lifting motor and track rotating motor.</div>
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<affiliations><list><country><li>Corée du Sud</li>
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<tree><country name="Corée du Sud"><noRegion><name sortKey="Kim, Chulsoo" sort="Kim, Chulsoo" uniqKey="Kim C" first="Chulsoo" last="Kim">Chulsoo Kim</name>
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<name sortKey="Choi, Changhwan" sort="Choi, Changhwan" uniqKey="Choi C" first="Changhwan" last="Choi">Changhwan Choi</name>
<name sortKey="Kim, Seungho" sort="Kim, Seungho" uniqKey="Kim S" first="Seungho" last="Kim">Seungho Kim</name>
<name sortKey="Park, Kyihwan" sort="Park, Kyihwan" uniqKey="Park K" first="Kyihwan" last="Park">Kyihwan Park</name>
<name sortKey="Yun, Sangseok" sort="Yun, Sangseok" uniqKey="Yun S" first="Sangseok" last="Yun">Sangseok Yun</name>
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Sensing system design and Torque analysis of a haptic operated climbing robot

Sensing system design and Torque analysis of a haptic operated climbing robot

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri