Tracked mobile robots are well suited for operation in uneven and obstacle ridden environments. A great majority of the current research in motion planning and obstacle avoidance however involves either wheeled or legged mobile systems. In our research we have been developing tracked mobile-manipulator systems for applications in hazardous environments. A Simulation, Animation, Visualization and Interactive Control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. It is characterized by three unique and useful features. (1) Simulation and Visualization of Robot Motion, (2) Virtual and Real World Transformations, and (3) Sensor-based Manipulation and Reactive Obstacle Negotiating Strategies. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.


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    Title :

    Mobile robots with articulated tracks and manipulators: intelligent control and graphical interface for teleoperation


    Additional title:

    Mobile Roboter mit gelenkigen Gleisen und Manipulatoren. Intelligente Steuerung und graphische Schnittstelle für die Fernlenkung


    Contributors:


    Publication date :

    1992


    Size :

    12 Seiten, 8 Bilder, 18 Quellen





    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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