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

Abstract

SUMMARY The 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 some research, audiovisual information has been used. However, the acquisition of information about force sensation, which is included in environmental information, has not been well investigated. 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 components of forces. For this reason, in this research a three-wheeled mobile robot consisting of seven actuators was developed and a control system was created for it. The robot can acquire information about 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 ability to adjust to the environment are expected to improve.

Original languageEnglish
Pages (from-to)59-67
Number of pages9
JournalElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Volume188
Issue number2
DOIs
Publication statusPublished - 2014

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Mobile robots
Robots
Control systems
Remote control
Actuators
Sensors

Keywords

  • acceleration control
  • disturbance observer
  • mobile robot
  • modal decomposition
  • motion control
  • real-world haptics

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Energy Engineering and Power Technology

Cite this

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title = "Development and control of multi-degree-of-freedom mobile robot for acquisition of road environmental modes",
abstract = "SUMMARY The 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 some research, audiovisual information has been used. However, the acquisition of information about force sensation, which is included in environmental information, has not been well investigated. 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 components of forces. For this reason, in this research a three-wheeled mobile robot consisting of seven actuators was developed and a control system was created for it. The robot can acquire information about 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 ability to adjust to the environment are expected to improve.",
keywords = "acceleration control, disturbance observer, mobile robot, modal decomposition, motion control, real-world haptics",
author = "Naoya Murata and Seiichiro Katsura",
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AU - Murata, Naoya

AU - Katsura, Seiichiro

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N2 - SUMMARY The 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 some research, audiovisual information has been used. However, the acquisition of information about force sensation, which is included in environmental information, has not been well investigated. 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 components of forces. For this reason, in this research a three-wheeled mobile robot consisting of seven actuators was developed and a control system was created for it. The robot can acquire information about 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 ability to adjust to the environment are expected to improve.

AB - SUMMARY The 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 some research, audiovisual information has been used. However, the acquisition of information about force sensation, which is included in environmental information, has not been well investigated. 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 components of forces. For this reason, in this research a three-wheeled mobile robot consisting of seven actuators was developed and a control system was created for it. The robot can acquire information about 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 ability to adjust to the environment are expected to improve.

KW - acceleration control

KW - disturbance observer

KW - mobile robot

KW - modal decomposition

KW - motion control

KW - real-world haptics

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