Autonomous flipper control for a tracked robot using 2D vertical laser scan
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F12%3A00211791" target="_blank" >RIV/68407700:21230/12:00211791 - isvavai.cz</a>
Result on the web
<a href="http://cmp.felk.cvut.cz/pub/cmp/articles/svoboda/Sedlacek-TR-2012-11.pdf" target="_blank" >http://cmp.felk.cvut.cz/pub/cmp/articles/svoboda/Sedlacek-TR-2012-11.pdf</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Autonomous flipper control for a tracked robot using 2D vertical laser scan
Original language description
This work describes a Robot Operating System (ROS) module for automatic flipper adaptation during obstacle traversal with the tracked NIFTi robot. This module is intended to relieve the robot operator from the difficult task of remotely controlling all four flippers by adjusting the flippers automatically. The operator may decide to switch on the automatic mode part of the time for example during a staircase traversal. The algorithm does not model the terrain explicitly. It measures the terrain profileby a vertically positioned 2D laser scanner mounted on the front of the robot. The main goal is to achieve the flippers touch the ground in order to maintain robot's stability. The proposed algorithm has been successfully tested on traversing staircases,curbs, rails and various other obstacles of different shapes.
Czech name
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů