Error Compensation System with Proximity Sensors for Vertical Ladder Climbing of the Robot 'WAREC-1'

Xiao Sun, S. Hayashi, K. Hashimoto, T. Matsuzawa, Y. Yoshida, N. Sakai, A. Imai, M. Okawara, K. Kumagai, T. Matsubara, K. Yamaguchi, Atsuo Takanishi

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

    Abstract

    This paper introduces a sensor system and motion that measure and compensate the error in position and orientation between robot's end-effectors and the rungs of ladder while climbing a ladder. This error has been a threat to vertical ladder climbing for a four-limbed robot and may directly cause failure in climbing, thus must be compensated. In detail, our error compensation system consists of 8 proximity sensors (2 sensors for each end-effector) powered by lithium batteries and data is transmitted via wireless communication. With the system constructed, corresponding algorithms to measure and calculate the amount of error in position and orientation as well as motion planning of the robot to compensate the error are proposed. Additionally, countermeasures are also prepared to deal with undesired situations, such as communication in low quality and incorrect data returned from proximity sensors. Simulation results of comparison with and without error compensation are presented and experiment results of the real robot are given to validate the effectiveness of our proposed system. Finally, discussions about results are shown and expected prospective works are concluded.

    Original languageEnglish
    Title of host publication2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
    PublisherIEEE Computer Society
    Pages40-46
    Number of pages7
    ISBN (Electronic)9781538672839
    DOIs
    Publication statusPublished - 2019 Jan 23
    Event18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 - Beijing, China
    Duration: 2018 Nov 62018 Nov 9

    Publication series

    NameIEEE-RAS International Conference on Humanoid Robots
    Volume2018-November
    ISSN (Print)2164-0572
    ISSN (Electronic)2164-0580

    Conference

    Conference18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
    CountryChina
    CityBeijing
    Period18/11/618/11/9

    Fingerprint

    Proximity sensors
    Error compensation
    Ladders
    Robots
    End effectors
    Lithium batteries
    Communication
    Sensors
    Motion planning
    Experiments

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Hardware and Architecture
    • Human-Computer Interaction
    • Electrical and Electronic Engineering

    Cite this

    Sun, X., Hayashi, S., Hashimoto, K., Matsuzawa, T., Yoshida, Y., Sakai, N., ... Takanishi, A. (2019). Error Compensation System with Proximity Sensors for Vertical Ladder Climbing of the Robot 'WAREC-1'. In 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018 (pp. 40-46). [8625073] (IEEE-RAS International Conference on Humanoid Robots; Vol. 2018-November). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2018.8625073

    Error Compensation System with Proximity Sensors for Vertical Ladder Climbing of the Robot 'WAREC-1'. / Sun, Xiao; Hayashi, S.; Hashimoto, K.; Matsuzawa, T.; Yoshida, Y.; Sakai, N.; Imai, A.; Okawara, M.; Kumagai, K.; Matsubara, T.; Yamaguchi, K.; Takanishi, Atsuo.

    2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018. IEEE Computer Society, 2019. p. 40-46 8625073 (IEEE-RAS International Conference on Humanoid Robots; Vol. 2018-November).

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

    Sun, X, Hayashi, S, Hashimoto, K, Matsuzawa, T, Yoshida, Y, Sakai, N, Imai, A, Okawara, M, Kumagai, K, Matsubara, T, Yamaguchi, K & Takanishi, A 2019, Error Compensation System with Proximity Sensors for Vertical Ladder Climbing of the Robot 'WAREC-1'. in 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018., 8625073, IEEE-RAS International Conference on Humanoid Robots, vol. 2018-November, IEEE Computer Society, pp. 40-46, 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018, Beijing, China, 18/11/6. https://doi.org/10.1109/HUMANOIDS.2018.8625073
    Sun X, Hayashi S, Hashimoto K, Matsuzawa T, Yoshida Y, Sakai N et al. Error Compensation System with Proximity Sensors for Vertical Ladder Climbing of the Robot 'WAREC-1'. In 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018. IEEE Computer Society. 2019. p. 40-46. 8625073. (IEEE-RAS International Conference on Humanoid Robots). https://doi.org/10.1109/HUMANOIDS.2018.8625073
    Sun, Xiao ; Hayashi, S. ; Hashimoto, K. ; Matsuzawa, T. ; Yoshida, Y. ; Sakai, N. ; Imai, A. ; Okawara, M. ; Kumagai, K. ; Matsubara, T. ; Yamaguchi, K. ; Takanishi, Atsuo. / Error Compensation System with Proximity Sensors for Vertical Ladder Climbing of the Robot 'WAREC-1'. 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018. IEEE Computer Society, 2019. pp. 40-46 (IEEE-RAS International Conference on Humanoid Robots).
    @inproceedings{b4cd323e52b546c3a034725c3bde2df3,
    title = "Error Compensation System with Proximity Sensors for Vertical Ladder Climbing of the Robot 'WAREC-1'",
    abstract = "This paper introduces a sensor system and motion that measure and compensate the error in position and orientation between robot's end-effectors and the rungs of ladder while climbing a ladder. This error has been a threat to vertical ladder climbing for a four-limbed robot and may directly cause failure in climbing, thus must be compensated. In detail, our error compensation system consists of 8 proximity sensors (2 sensors for each end-effector) powered by lithium batteries and data is transmitted via wireless communication. With the system constructed, corresponding algorithms to measure and calculate the amount of error in position and orientation as well as motion planning of the robot to compensate the error are proposed. Additionally, countermeasures are also prepared to deal with undesired situations, such as communication in low quality and incorrect data returned from proximity sensors. Simulation results of comparison with and without error compensation are presented and experiment results of the real robot are given to validate the effectiveness of our proposed system. Finally, discussions about results are shown and expected prospective works are concluded.",
    author = "Xiao Sun and S. Hayashi and K. Hashimoto and T. Matsuzawa and Y. Yoshida and N. Sakai and A. Imai and M. Okawara and K. Kumagai and T. Matsubara and K. Yamaguchi and Atsuo Takanishi",
    year = "2019",
    month = "1",
    day = "23",
    doi = "10.1109/HUMANOIDS.2018.8625073",
    language = "English",
    series = "IEEE-RAS International Conference on Humanoid Robots",
    publisher = "IEEE Computer Society",
    pages = "40--46",
    booktitle = "2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018",

    }

    TY - GEN

    T1 - Error Compensation System with Proximity Sensors for Vertical Ladder Climbing of the Robot 'WAREC-1'

    AU - Sun, Xiao

    AU - Hayashi, S.

    AU - Hashimoto, K.

    AU - Matsuzawa, T.

    AU - Yoshida, Y.

    AU - Sakai, N.

    AU - Imai, A.

    AU - Okawara, M.

    AU - Kumagai, K.

    AU - Matsubara, T.

    AU - Yamaguchi, K.

    AU - Takanishi, Atsuo

    PY - 2019/1/23

    Y1 - 2019/1/23

    N2 - This paper introduces a sensor system and motion that measure and compensate the error in position and orientation between robot's end-effectors and the rungs of ladder while climbing a ladder. This error has been a threat to vertical ladder climbing for a four-limbed robot and may directly cause failure in climbing, thus must be compensated. In detail, our error compensation system consists of 8 proximity sensors (2 sensors for each end-effector) powered by lithium batteries and data is transmitted via wireless communication. With the system constructed, corresponding algorithms to measure and calculate the amount of error in position and orientation as well as motion planning of the robot to compensate the error are proposed. Additionally, countermeasures are also prepared to deal with undesired situations, such as communication in low quality and incorrect data returned from proximity sensors. Simulation results of comparison with and without error compensation are presented and experiment results of the real robot are given to validate the effectiveness of our proposed system. Finally, discussions about results are shown and expected prospective works are concluded.

    AB - This paper introduces a sensor system and motion that measure and compensate the error in position and orientation between robot's end-effectors and the rungs of ladder while climbing a ladder. This error has been a threat to vertical ladder climbing for a four-limbed robot and may directly cause failure in climbing, thus must be compensated. In detail, our error compensation system consists of 8 proximity sensors (2 sensors for each end-effector) powered by lithium batteries and data is transmitted via wireless communication. With the system constructed, corresponding algorithms to measure and calculate the amount of error in position and orientation as well as motion planning of the robot to compensate the error are proposed. Additionally, countermeasures are also prepared to deal with undesired situations, such as communication in low quality and incorrect data returned from proximity sensors. Simulation results of comparison with and without error compensation are presented and experiment results of the real robot are given to validate the effectiveness of our proposed system. Finally, discussions about results are shown and expected prospective works are concluded.

    UR - http://www.scopus.com/inward/record.url?scp=85062258846&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=85062258846&partnerID=8YFLogxK

    U2 - 10.1109/HUMANOIDS.2018.8625073

    DO - 10.1109/HUMANOIDS.2018.8625073

    M3 - Conference contribution

    T3 - IEEE-RAS International Conference on Humanoid Robots

    SP - 40

    EP - 46

    BT - 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018

    PB - IEEE Computer Society

    ER -