Abstraction and compression of information utilizing real world for controlling remote controlled robot - Application to snake-like robot -

Recently, robots which operate in unpredictable complex environment have attracted much attention, and various remote controlled robots have been developed. However to control the robots, we have to send lots of information in real-time and it is a bottleneck in developing sophisticated robot. In this paper, we propose new framework to abstract and compress information without using computer. In this framework, we use properties of real world in stead of computer and solve the problem of real-time processing. We apply the framework for controlling a snake-like robot, and demonstrate the validity and effectiveness of the proposed framework.

[1]  Shigeo Hirose,et al.  Development of Helios VII: an arm-equipped tracked vehicle for search and rescue operations , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[2]  Suguru Arimoto,et al.  A New Feedback Method for Dynamic Control of Manipulators , 1981 .

[3]  Masayuki Arai,et al.  Development of "Souryu-III": connected crawler vehicle for inspection inside narrow and winding spaces , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[4]  Thomas Christaller,et al.  A robot snake to inspect broken buildings , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[5]  Kazuyuki Ito,et al.  Autonomous control of a snake-like robot utilizing passive mechanism , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[6]  Suguru Arimoto.  What are the Fundamentals of Bio-Mimetic Control? , 2004, 2004 IEEE International Conference on Robotics and Biomimetics.