1P1-G10 Removing Obstacle by Tracked Mobile Robot with Two Arms(Wheeled Robot/Tracked Vehicle(3))

Abstract

The authors have developed a tracked mobile robot that consists of two tracks and two arms. Two tracks surround the robot body. Two 4-DOF arms are attached to left and right front corner of the robot body. One arm has an 1-DOF hand at the end for manipulating an object. Another has a rubber at the end. The robot is therefore able to handle objects on the way when it is moving. Furthermore, a CCD camera which can control pan and tilt angles is mounted on the robot with an image processing board which can detect a target object. An operator can monitor transmitted camera images with the result of object detection and send movement and manipulation command to the robot properly from a remote computer. This paper describes mechanisms and a control system of the robot and how to remove obstacle.