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

    研究成果: Conference contribution

    抄録

    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.

    元の言語English
    ホスト出版物のタイトル2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
    出版者IEEE Computer Society
    ページ40-46
    ページ数7
    ISBN(電子版)9781538672839
    DOI
    出版物ステータスPublished - 2019 1 23
    イベント18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 - Beijing, China
    継続期間: 2018 11 62018 11 9

    出版物シリーズ

    名前IEEE-RAS International Conference on Humanoid Robots
    2018-November
    ISSN(印刷物)2164-0572
    ISSN(電子版)2164-0580

    Conference

    Conference18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
    China
    Beijing
    期間18/11/618/11/9

    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

    これを引用

    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'. : 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018 (pp. 40-46). [8625073] (IEEE-RAS International Conference on Humanoid Robots; 巻数 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; 巻 2018-November).

    研究成果: Conference 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'. : 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018., 8625073, IEEE-RAS International Conference on Humanoid Robots, 巻. 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 その他. 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. 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).
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    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.",
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    AU - Hayashi, S.

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    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

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    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.

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