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

    ASJC Scopus subject areas

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

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  • Cite this

    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 (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