HapticV1, PascalFrancis, Checkpoint, bibRecord, 000C22

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

Identifieur interne : 000C22 ( PascalFrancis/Checkpoint ); précédent : 000C21; suivant : 000C23

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

Links to Exploration step

Pascal:06-0459521

Le document en format XML

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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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<author><name sortKey="Yun, Sangseok" sort="Yun, Sangseok" uniqKey="Yun S" first="Sangseok" last="Yun">Sangseok Yun</name>
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<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Climbing behavior</term>
<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>
</keywords>
<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>
<term>Moteur couple</term>
<term>Entraînement moteur électrique</term>
<term>Equipement entrée sortie</term>
<term>.</term>
</keywords>
<keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term>
<term>Terrorisme</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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Sensing system design and Torque analysis of a haptic operated climbing robot

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

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Abstract

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