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Motion Estimation and Control of a Flexible Serpentine Robot by Motion Stereo and Distributed Sensors

Research Project

Project/Area Number 21360111
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionTohoku University

Principal Investigator

TADOKORO Satoshi  東北大学, 大学院・情報科学研究科, 教授 (40171730)

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)
Project Period (FY) 2009 – 2011
Project Status Completed (Fiscal Year 2011)
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)
Keywordsソフトメカニクス / 知能機械学 / 機械システム
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.

Report

(4 results)
  • 2011 Annual Research Report   Final Research Report ( PDF )
  • 2010 Annual Research Report
  • 2009 Annual Research Report
  • Research Products

    (42 results)

All 2012 2011 2010 2009 Other

All Journal Article (15 results) (of which Peer Reviewed: 15 results) Presentation (21 results) Book (2 results) Remarks (4 results)

  • [Journal Article] Development of Linear Inchworm Drive using Flexible Pneumatic Actuator for Active Scope Camera2012

    • Author(s)
      Kazuhito Wakana, Michihisa Ishikura, Masashi Konyo, Satoshi Tadokoro
    • Journal Title

      Proc. IEEE International Conference on Robotics and Automation (ICRA2012)

      Volume: (掲載決定) Pages: 4315-4321

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Development of Linear Inchworm Drive using Flexible Pneumatic Actuator for Active Scope Camera2012

    • Author(s)
      K.Wakana, M.Ishikura, M.Konyo, S.Tadokoro
    • Journal Title

      Proc.IEEE International Conference on Robotics and Automation

      Volume: (accepted)

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Running Performance Evaluation of Inchworm Drive and Vibration Drive for Active Scope Camera2011

    • Author(s)
      Michihisa Ishikura, Kazuhito Wakana, Eijiro Takeuchi, Masashi Konyo, Satoshi Tadokoro
    • Journal Title

      Proc. 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

      Pages: 599-604

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Running Performance Evaluation of Inchworm Drive and Vibration Drive for Active Scope Camera2011

    • Author(s)
      M.Ishikura, K.Wakana, E.Takeuchi, M.Konyo, S.Tadokoro
    • Journal Title

      Proc.2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Vision-based localization using active scope camera-accuracy evaluation for structure from motion in disaster environment-2010

    • Author(s)
      Michihisa Ishikura, Eijiro Takeuchi, Masashi Konyo, Satoshi Tadokoro
    • Journal Title

      Proc. 2010 IEEE/SICE International Symposium on System Integration (SII2010)

      Volume: A1-5 Pages: 25-30

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Rescue Robots at the Collapse of the Municipal Archive of Cologne City : a Field Report2010

    • Author(s)
      Thorsten Linder, Viatcheslav Tretyakov, Sebastian Blumenthal, Peter Molitor, Hartmut Surmann, Dirk Holz, Robin Murphy and Satoshi Tadokoro
    • Journal Title

      Proc. IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR2010)

      Pages: 1-6

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Vision-based localization using active scope camera-accuracy evaluation for structure from motion in disaster environment2010

    • Author(s)
      M.Ishikura, E.Takeuchi, M.Konyo, S.Tadokoro
    • Journal Title

      Proc.2010 IEEE/SICE International Symposium on System Integration

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] System integration in R&D of active scope camera2010

    • Author(s)
      S.Tadokoro, M.Konyo, K.Sawata
    • Journal Title

      IROS 2010 Workshop on Robots and Sensors Integration in Future Rescue Information System

      Pages: 5-10

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Rescue robots at the collapse of the Municipal Archive of Cologne Cityu : a field report2010

    • Author(s)
      T.Linder, V.Tretyakov, S.Blumenthal, P.Molitor, H.Surmann, D.Holz, R.Murphy, S.Tadokoro
    • Journal Title

      Proc.IEEE International Workshop on Safety, Security and Rescue Robotics

      Pages: 20-25

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Application of Active Scope Camera to Forensic Investigation of Construction Accident2009

    • Author(s)
      Satoshi Tadokoro, Robin Murphy, Samuel Stover, William Brack, Masashi Konyo, Toshihiko Nishimura, Osachika Tanimoto
    • Journal Title

      Proc. 2009 IEEE International Workshop on Advanced Robotics and Its Social Impacts (ARSO2009)

      Pages: 47-50

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Control Experiments of Sliding Motion of Active Flexible Cable2009

    • Author(s)
      Kazuna Sawata, Masashi Konyo, Satoshi Tadokoro, Koichi Osuka
    • Journal Title

      Proc. the 3rd International Conference on Manufacturing , Machine Design and Tribology (ICMDT 2009)

      Pages: 112-117

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Sliding Motion Control of Active Flexible Cable with Simple Shape Information2009

    • Author(s)
      Kazuna Sawata, Masashi Konyo, Satoshi Saga, Satoshi Tadokoro, Koichi Osuka
    • Journal Title

      Proc. 2009 IEEE International Conference on Robotics and Automation (ICRA2009)

      Pages: 3736-3742

    • Related Report
      2011 Final Research Report
    • Peer Reviewed
  • [Journal Article] Sliding Motion Control of Active Flexible Cable with Simple Shape Information2009

    • Author(s)
      K.Sawata, M.Konyo, S.Saga, S.Tadokoro, K.Osuka
    • Journal Title

      Proc.2009 IEEE Int.Conf.on Robotics and Automation(ICRA2009)

      Pages: 3736-3742

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Control Experiments of Sliding Motion of Active Flexible Cable2009

    • Author(s)
      K.Sawata, M.Konyo, S.Tadokoro, K.Osuka
    • Journal Title

      Proc.3rd Int.Conf.on Manufacturing, Machine Design and Tribology(ICMDT 2009)

      Pages: 112-112

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Application of Active Scope Camera to Forensic Investigation of Construction Accident2009

    • Author(s)
      S.Tadokoro, R.Murphy, S.Stover, W.Brack, M.Konyo, T.Nishimura, O.Tanimoto
    • Journal Title

      Proc.2009 IEEE Int.WS on Advanced Robotics and Its Social Impacts(ARSO2009)

      Pages: 47-50

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Presentation] Rescue robotics in action2011

    • Author(s)
      Satoshi Tadokoro
    • Organizer
      IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      Kyoto, Japan
    • Year and Date
      2011-12-22
    • Related Report
      2011 Final Research Report
  • [Presentation] Rescue robotics in action2011

    • Author(s)
      S.Tadokoro
    • Organizer
      IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      Kyoto, Japan(招待講演)
    • Year and Date
      2011-12-22
    • Related Report
      2011 Annual Research Report
  • [Presentation] Resuce robots in Great Eastern Japan Earthquake2011

    • Author(s)
      Satoshi Tadokoro
    • Organizer
      2011 International Conference on Service and Interactive Robotics
    • Place of Presentation
      Taichung, Taiwan
    • Year and Date
      2011-11-26
    • Related Report
      2011 Final Research Report
  • [Presentation] Rescue robots in Great Eastern Japan Earthquake2011

    • Author(s)
      S.Tadokoro
    • Organizer
      2011 International Conference on Service and Interactive Robotics
    • Place of Presentation
      Taichung, Taiwan(招待講演)
    • Year and Date
      2011-11-26
    • Related Report
      2011 Annual Research Report
  • [Presentation] Rescue robotics in action2011

    • Author(s)
      Satoshi Tadokoro
    • Organizer
      The 1st Korea-Japan Workshop in Firefighting and Disaster Prevention Robots
    • Place of Presentation
      Incheon, Korea
    • Year and Date
      2011-11-23
    • Related Report
      2011 Final Research Report
  • [Presentation] Rescue robotics in action2011

    • Author(s)
      S.Tadokoro
    • Organizer
      The 1st Korea-Japan Workshop on Firefighting and Disaster Prevention Robots Invited Speech
    • Place of Presentation
      Inchon, Korea(招待講演)
    • Year and Date
      2011-11-23
    • Related Report
      2011 Annual Research Report
  • [Presentation] Rescue robotics in action2011

    • Author(s)
      Satoshi Tadokoro
    • Organizer
      NIST/ASTM Response Robot Exercise
    • Place of Presentation
      College Station, USA
    • Year and Date
      2011-11-16
    • Related Report
      2011 Final Research Report
  • [Presentation] Rescue robotics in action2011

    • Author(s)
      S.Tadokoro
    • Organizer
      NIST/ASTM Response Robot Exercise
    • Place of Presentation
      College Station, TX, USA(招待講演)
    • Year and Date
      2011-11-16
    • Related Report
      2011 Annual Research Report
  • [Presentation] Rescue robotics in action2011

    • Author(s)
      atoshi Tadokoro
    • Organizer
      AAAI Fall Symposia
    • Place of Presentation
      Arlington, USA
    • Year and Date
      2011-11-06
    • Related Report
      2011 Final Research Report
  • [Presentation] Rescue robotics in action2011

    • Author(s)
      S.Tadokoro
    • Organizer
      AAAI Fall Symposia
    • Place of Presentation
      Arlington, VA, USA(招待講演)
    • Year and Date
      2011-11-06
    • Related Report
      2011 Annual Research Report
  • [Presentation] Rescue robotics and its applications2010

    • Author(s)
      Satoshi Tadokoro
    • Organizer
      The 7th International Conference on Ubiquitous Robots and Ambient Intelligent
    • Place of Presentation
      Busan, Korea
    • Year and Date
      2010-11-25
    • Related Report
      2011 Final Research Report
  • [Presentation] Rescue robotics and its applications2010

    • Author(s)
      S.Tadokoro
    • Organizer
      The 7th International Conference on Ubiquitous Robots and Ambient Intelligence
    • Place of Presentation
      Busan, Korea
    • Year and Date
      2010-11-25
    • Related Report
      2010 Annual Research Report
  • [Presentation] Rescue robotics challenge2010

    • Author(s)
      Satoshi Tadokoro
    • Organizer
      2010 IEEE International Workshop on Advanced Robotics and Its Social Impacts
    • Place of Presentation
      Seoul, Korea
    • Year and Date
      2010-10-26
    • Related Report
      2011 Final Research Report
  • [Presentation] Rescue robotics challenge2010

    • Author(s)
      S.Tadokoro
    • Organizer
      2010 IEEE International Workshop on Advanced Robotics and Its Social Impatcs
    • Place of Presentation
      Seoul, Korea
    • Year and Date
      2010-10-26
    • Related Report
      2010 Annual Research Report
  • [Presentation] System Integration in R & D of Active Scope Camera2010

    • Author(s)
      Satoshi Tadokoro, Masashi Konyo, Kazuna Sawata
    • Organizer
      IROS 2010 Workshop on Robots and Sensors Integration in Future Rescue Information System (ROSIN' 10)
    • Place of Presentation
      Taipei, Taiwan
    • Year and Date
      2010-10-18
    • Related Report
      2011 Final Research Report
  • [Presentation] Rescue robotics challenge2009

    • Author(s)
      Satoshi Tadokoro
    • Organizer
      Cerebrating 50 Years of Robotics
    • Place of Presentation
      Philadelphia, USA
    • Year and Date
      2009-12-11
    • Related Report
      2011 Final Research Report
  • [Presentation] Rescue Robotics Challenge2009

    • Author(s)
      Satoshi Tadokoro
    • Organizer
      Cerebrating 50 Years of Robotics
    • Place of Presentation
      米国,Univ.Pennsylvania
    • Year and Date
      2009-12-11
    • Related Report
      2009 Annual Research Report
  • [Presentation] Rescue robotics and its application2009

    • Author(s)
      Satoshi Tadokoro
    • Organizer
      ICCAS-SICE 2009 Introductory Lecture
    • Place of Presentation
      Fukuoka, Japan
    • Year and Date
      2009-08-21
    • Related Report
      2011 Final Research Report
  • [Presentation] Rescue Robotics and Its Application2009

    • Author(s)
      Satoshi Tadokoro
    • Organizer
      ICCAS-SICE 2009 Introductory Lecture
    • Place of Presentation
      福岡国際会議場
    • Year and Date
      2009-08-21
    • Related Report
      2009 Annual Research Report
  • [Presentation] Active Scope Camera and a high mobility UGV2009

    • Author(s)
      Satoshi Tadokoro
    • Organizer
      4th International Workshop on Synthetic Simulation and Robotics to Mitigate Earthquake Disaster
    • Place of Presentation
      Graz, Austria
    • Year and Date
      2009-07-06
    • Related Report
      2011 Final Research Report
  • [Presentation] Active Scope Camera and a High Mobility UGV, Kenaf2009

    • Author(s)
      Satoshi Tadokoro
    • Organizer
      4th Int.WS on Synthetic Simulation and Robotics to Mitigate Earthquake Disaster(SRMED 2009)
    • Place of Presentation
      オーストリア,Technische Hochschule Graz
    • Year and Date
      2009-07-06
    • Related Report
      2009 Annual Research Report
  • [Book] Rescue Robotics2009

    • Author(s)
      Satoshi Tadokoro
    • Total Pages
      224
    • Related Report
      2011 Final Research Report
  • [Book] Rescue Robotics2009

    • Author(s)
      Satoshi Tadokoro
    • Total Pages
      210
    • Publisher
      Springer
    • Related Report
      2009 Annual Research Report
  • [Remarks]

    • URL

      http://www.rm.is.tohoku.ac.jp/

    • Related Report
      2011 Final Research Report
  • [Remarks]

    • URL

      http://www.rm.is.tohoku.ac.jp/

    • Related Report
      2011 Annual Research Report
  • [Remarks]

    • URL

      http://www.rm.is.tohoku.ac.jp/

    • Related Report
      2010 Annual Research Report
  • [Remarks]

    • URL

      http://www.rm.is.tohoku.ac.jp/

    • Related Report
      2009 Annual Research Report

URL: 

Published: 2009-04-01   Modified: 2016-04-21  

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