The authors developed the moving mechanism and perceptive guiding technique to detour or overstep stairs or other obstacles in buildings, while moving toward a destination in a self-controlled manner. These features are essential for the realization of an intelligent moving robot. The system can effectively be used for the inspection of equipment in plants such as nuclear stations. The new technologies developed consist of a crawler-type moving mechanism, where robot posture is controlled to fit road conditions, and a guidance system, in which viewing information related to surrounding structures such as doors, walls, etc. , is compared with stored map information to determine the speed of the crawler.
|Published - 1985 2月
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