Development and control of multi-degree-of-freedom mobile robot for acquisition of road environmental modes

Naoya Murata, Seiichiro Katsura

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

Acquisition of information about the environment around a mobile robot is important for purposes such as controlling the robot from a remote location and in situations such as that when the robot is running autonomously. In many researches, audiovisual information is used. However, acquisition of information about force sensation, which is included in environmental information, has not been well researched. The mobile-hapto, which is a remote control system with force information, has been proposed, but the robot used for the system can acquire only the horizontal component of forces. For this reason, in this research, a three-wheeled mobile robot that consists of seven actuators was developed and its control system was constructed. It can get information on horizontal and vertical forces without using force sensors. By using this robot, detailed information on the forces in the environment can be acquired and the operability of the robot and its capability to adjust to the environment are expected to improve.

Original languageEnglish
Pages (from-to)301-307
Number of pages7
Journalieej transactions on industry applications
Volume132
Issue number3
DOIs
Publication statusPublished - 2012 Apr 2

Keywords

  • Acceleration control
  • Disturbance observer
  • Mobile robot
  • Modal decomposition
  • Motion control
  • Real-world haptics

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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