Motion Estimation and Control of a Flexible Serpentine Robot by Motion Stereo and Distributed Sensors
| Project/Area Number |
21360111
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tohoku University |
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Principal Investigator |
TADOKORO Satoshi 東北大学, 大学院・情報科学研究科, 教授 (40171730)
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| Co-Investigator(Kenkyū-buntansha) |
TAKEUCHI Eijiro 東北大学, 大学院・情報科学研究科, 助教 (00509680)
昆陽 雅司 東北大学, 大学院・情報科学研究科, 准教授 (20400301)
大野 和則 東北大学, 大学院・情報科学研究科, 講師 (70379486)
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| Project Period (FY) |
2009 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥19,500,000 (Direct Cost: ¥15,000,000、Indirect Cost: ¥4,500,000)
Fiscal Year 2011: ¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Fiscal Year 2010: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2009: ¥11,440,000 (Direct Cost: ¥8,800,000、Indirect Cost: ¥2,640,000)
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| Keywords | ソフトメカニクス / 知能機械学 / 機械システム |
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| Research Abstract |
Estimation of motion and cable shape was studied using internal sensors of Active Scope Camera. By methods using only camera image and motion sensors, 6-DOF motion could be estimated in room environment, but rubble environments made the estimation difficult because of motion of the lights. By applying an unscented Kalman filter to a dynamic model of flexible cables by ANCF, the accuracy of estimation was improved for sparse sensors and/or large disturbance.
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Report
(4 results)
Research Products
(42 results)
