Consideration of Path Planning using Wheel with Tactile function to acquire Information of ground
| Project/Area Number |
23760223
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Shinshu University |
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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)
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| Project Period (FY) |
2011 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| 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)
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| 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) |
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| 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.
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Report
(3 results)
Research Products
(7 results)
