Compound manipulation mode for improving task-ability of multi-arm multi-flipper crawler robot

Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Yusuke Uehara, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a new manipulation mode for multi-arm and multi-flipper robots to improve the manipulation ability of them. Multi-arm and multi-flipper crawler robots designed for disaster response or other uses are naturally divided into two function parts from the design stage. There are the crawlers and the flippers for robot locomotion tasks, and the arms for manipulation tasks. In this design concept, the flippers and arms are hardly to systematically and actively cooperate with each other, and these control systems cannot fully play the structural features of this kind of robot. To solve this problem, we proposed a compound manipulation mode (CMM) for multi-arm multi-flipper robot. In this control mode, the flippers and arms are controlled as a whole in manipulation tasks, the flippers will support the arms to own bigger manipulation space, to have better manipulation posture and to optimize the position of robot center of gravity (COG) to make sure robot in good stable state. Four arm and four flipper robot OCTOPUS was used as the test platform, and the verification experiments were carried out. The results indicated that CMM control mode can achieve all the proposals, therefore the concept of CMM control mode is successful and useful.

Original languageEnglish
Title of host publicationSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages463-468
Number of pages6
Volume2018-January
ISBN (Electronic)9781538622636
DOIs
Publication statusPublished - 2018 Feb 1
Event2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
Duration: 2017 Dec 112017 Dec 14

Other

Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
CountryTaiwan, Province of China
CityTaipei
Period17/12/1117/12/14

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ASJC Scopus subject areas

  • Modelling and Simulation
  • Instrumentation
  • Artificial Intelligence
  • Computer Science Applications
  • Engineering (miscellaneous)
  • Materials Science (miscellaneous)
  • Control and Optimization

Cite this

Chen, K., Kamezaki, M., Katano, T., Kaneko, T., Azuma, K., Uehara, Y., Ishida, T., Seki, M., Ichiryu, K., & Sugano, S. (2018). Compound manipulation mode for improving task-ability of multi-arm multi-flipper crawler robot. In SII 2017 - 2017 IEEE/SICE International Symposium on System Integration (Vol. 2018-January, pp. 463-468). [8279256] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2017.8279256