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

*この研究の対応する著者

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
出版社Institute of Electrical and Electronics Engineers Inc.
ページ463-468
ページ数6
ISBN(電子版)9781538622636
DOI
出版ステータスPublished - 2018 2月 1
イベント2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
継続期間: 2017 12月 112017 12月 14

出版物シリーズ

名前SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
2018-January

Other

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

ASJC Scopus subject areas

  • モデリングとシミュレーション
  • 器械工学
  • 人工知能
  • コンピュータ サイエンスの応用
  • 工学(その他)
  • 材料科学(その他)
  • 制御と最適化

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