Novel method of estimating surface condition for tiny mobile robot to improve locomotion performance

Katsuaki Tanaka, Hiroyuki Ishii, Yuya Okamoto, Daisuke Kuroiwa, Yusaku Miura, Daiki Endo, Junko Mitsuzuka, Qing Shi, Satoshi Okabayashi, Yusuke Sugahara, Atsuo Takanishi

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

    6 Citations (Scopus)

    Abstract

    Environment recognition is an effective way for a mobile robot to move across rough terrain. In particular, this makes it possible to prevent a tiny mobile robot from getting stuck or turning over. Several studies have been conducted on environment recognition using a laser range finder or camera. However, almost all of these studies focused on obstacle detection or shape recognition, which cannot be used to recognize the surface condition such as slipperiness. The purpose of this work is to design a model for estimating the surface condition using a tiny mobile robot. We set slipperiness as one of the parameters for recognizing the surface condition, which is already used by terramechanics, along with two additional parameters, the hardness and unevenness. We find that a robot can roughly estimate the ground hardness by measuring the current peak of a motor and the unevenness from measuring the robot posture. By recognizing the surface condition, the robot can change the parameters of the controlling motor based on the ground characteristics. This new method for recognizing the surface condition is significant, not only because it fills gaps in the previous research, but also because it does not require any special sensors such as a laser range finder and does not consume a large quantity of energy. Therefore, it achieves a core objective of our environmental monitoring system using multiple mobile robot.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages6515-6520
    Number of pages6
    Volume2015-December
    ISBN (Print)9781479999941
    DOIs
    Publication statusPublished - 2015 Dec 11
    EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
    Duration: 2015 Sep 282015 Oct 2

    Other

    OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
    CountryGermany
    CityHamburg
    Period15/9/2815/10/2

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    Keywords

    • Force
    • Legged locomotion
    • Robot kinematics
    • Robot sensing systems

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

    Cite this

    Tanaka, K., Ishii, H., Okamoto, Y., Kuroiwa, D., Miura, Y., Endo, D., Mitsuzuka, J., Shi, Q., Okabayashi, S., Sugahara, Y., & Takanishi, A. (2015). Novel method of estimating surface condition for tiny mobile robot to improve locomotion performance. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2015-December, pp. 6515-6520). [7354308] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354308