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Consideration of Path Planning using Wheel with Tactile function to acquire Information of ground

Research Project

Project/Area Number 23760223
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionShinshu University

Principal Investigator

IIZUKA Kojiro  信州大学, ファイバーナノテク国際若手研究者育成拠点, 助教 (10453672)

Project Period (FY) 2011 – 2012
Project Status Completed (Fiscal Year 2012)
Budget Amount *help
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2012: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2011: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Keywords情報機器 / 知能機械システム / 沈下検知システム / 経路計画 / 軟弱地盤走行性 / 車輪開発 / 国際情報交流(韓国)
Research Abstract

This study considers the path planning using the information of subsidence under the wheels. In the study, we are developing the sensing wheel to measure the subsidence of the wheels. The sensors for the wheel are used the strain gauges. The strain gauges are mounted on grousers of the wheel. When the grouse are contacted on the surface of the loose soil, the subsidence is predicted using the values of strain gauges and the rotation angle of the wheel. If the robot can inform the subsidence before it has poor condition by the subsidence of the wheels, it can traverse in safety and with efficiency. Moreover, the path planning is updated by using theinformation of the subsidence. The effectiveness of the proposed wheel was indicated by the running experiments. We considered furthermore in the path planning using the proposed sensing wheel.

Report

(3 results)
  • 2012 Annual Research Report   Final Research Report ( PDF )
  • 2011 Research-status Report
  • Research Products

    (7 results)

All 2013 2012 Other

All Presentation (6 results) (of which Invited: 1 results) Remarks (1 results)

  • [Presentation] 車輪と地盤の接触情報を利用した沈下量センシングに関する研究2013

    • Author(s)
      笹木竜也, 飯塚浩二郎, 鈴木智, 河村隆, 久保田孝
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      つくば国際会議場
    • Related Report
      2012 Final Research Report
  • [Presentation] 車輪と地盤の接触情報を利用した沈下量センシングに関する研究2013

    • Author(s)
      飯塚浩二郎
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      つくば国際会議場, 茨城県
    • Related Report
      2012 Annual Research Report
  • [Presentation] 月面探査ロボットの開発:軟弱地盤移動メカニズムと特殊移動機構の開発2012

    • Author(s)
      飯塚浩二郎
    • Organizer
      計測自動制御学会中部支部シンポジウム
    • Place of Presentation
      長野市(信州大学工学部)
    • Year and Date
      2012-09-25
    • Related Report
      2012 Final Research Report
  • [Presentation] 軟弱地盤走行ロボットのための沈下量センシング車輪の開発2012

    • Author(s)
      笹木竜也, 飯塚浩二郎, 河村隆, 久保田孝
    • Organizer
      計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      福岡国際会議場
    • Related Report
      2012 Final Research Report
  • [Presentation] 「月面探査ロボットの開発:軟弱地盤移動メカニズムと特殊移動機構の開発2012

    • Author(s)
      飯塚浩二郎
    • Organizer
      計測自動制御学会中部支部シンポジウム
    • Place of Presentation
      信州大学工学部, 長野県
    • Related Report
      2012 Annual Research Report
    • Invited
  • [Presentation] 軟弱地盤走行ロボットのための沈下量 センシング車輪の開発2012

    • Author(s)
      笹木竜也
    • Organizer
      計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      福岡国際会議場, 福岡県
    • Related Report
      2012 Annual Research Report
  • [Remarks]

    • URL

      http://www.nexyzbb.ne.jp/~cozzy-i/

    • Related Report
      2012 Final Research Report

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Published: 2011-08-05   Modified: 2019-07-29  

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