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This paper describes the multisensor control system for rescue robot, which is necessary to save a human life at the great disaster. Basically this type of robot is controlled by human operator, but it needs an autonomous control function for safe and fast reaction. Here, we made a model of rescue robot whose hand provides the distributed tactile sensors; the force/torque sensor and the slip sensor. The signal processing method and controlling method of the robot hand are investigated By the fundamental experiments of grasping and pulling up a dummy, which are the first few steps of the rescue work, the system works well in the restricted condition.
Masuda et al. (Mon,) studied this question.