路面環境モード抽出のための多自由度モバイルロボットの開発と制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2012/03/01

タイトル(英語): Development and Control of Multi-Degree-of-Freedom Mobile Robot for Acquisition of Road Environmental Modes

著者名: 村田　直也（慶應義塾大学理工学部システムデザイン工学科），桂　誠一郎（慶應義塾大学理工学部システムデザイン工学科）

著者名(英語): Naoya Murata (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)

キーワード: モーションコントロール，実世界ハプティクス，外乱オブザーバ，モード分解，移動ロボット，加速度制御　　motion control，real-world haptics，disturbance observer，modal decomposition，mobile robot，acceleration control

要約(英語): Acquisition of information about the environment around a mobile robot is important for purposes such as controlling the robot from a remote location and in situations such as that when the robot is running autonomously. In many researches, audiovisual information is used. However, acquisition of information about force sensation, which is included in environmental information, has not been well researched. The mobile-hapto, which is a remote control system with force information, has been proposed, but the robot used for the system can acquire only the horizontal component of forces.For this reason, in this research, a three-wheeled mobile robot that consists of seven actuators was developed and its control system was constructed. It can get information on horizontal and vertical forces without using force sensors. By using this robot, detailed information on the forces in the environment can be acquired and the operability of the robot and its capability to adjust to the environment are expected to improve.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.132 No.3 （2012） 特集：産業計測制御全般

本誌掲載ページ: 301-307 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/132/3/132_3_301/_article/-char/ja/