Force-response-type remote operation device for mobile manipulators on rough terrain based on 3D environment observation

• Project/Area Number: 24360092
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Tohoku University
• Principal Investigator: NAGATANI Keiji 東北大学, 工学(系)研究科(研究院), 准教授 (80314649)
• Co-Investigator(Kenkyū-buntansha): YOSHIDA Tomoaki 千葉工業大学, 未来ロボット技術研究センター, 上席研究員 (20458631) ; YOSHIDA Kazuya 東北大学, 大学院工学研究科, 教授 (00191578)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Project Status: Completed (Fiscal Year 2014)
• Budget Amount: ¥13,260,000 (Direct Cost: ¥10,200,000、Indirect Cost: ¥3,060,000); Fiscal Year 2014: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000); Fiscal Year 2013: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000); Fiscal Year 2012: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
• Keywords: ロボティクス / 知能ロボティックス / 減災 / 移動マニピュレータ / 不整地走行

Outline of Final Research Achievements

Tracked vehicles that mount multi-degrees of freedom manipulator are of service to find and support victims in disaster environments. However, it requires high-skill for tele-operation of such complicated system. Therefore, in this research, we aimed at researching and developing easy handling tele-operation system, particularly, (1) representation of 3D map on display, (2) contact estimation and presentation with master arm, (3) stability analysis and display to operators. Finally, we integrated the above system and evaluated by some experiments in indoor and outdoor fields. According to the experiment, we confirmed the advantages of the proposed system.

Research Products

• [Journal Article] Review: Recent Trends and Issues of Volcanic Disaster Response with Mobile Robots (2014)
  • Author(s): Keiji Nagatani
  • Journal Title: Journal of Robotics and Mechatronics Volume: 26 Pages: 436-441
  • Peer Reviewed
• [Journal Article] Positioning device for outdoor mobile robots using optical sensors and lasers (2013)
  • Author(s): Isaku Nagai, Genki Yamauchi, Keiji Nagatani, Keigo Watanabe, and Kazuya Yoshida
  • Journal Title: Advanced Robotics Volume: 27 Issue: 15 Pages: 1147-1160
  • DOI: 10.1080/01691864.2013.819603
  • NAID: 120005703800
  • Peer Reviewed
• [Journal Article] Emergency Response to the Nuclear Accident at the Fukushima Daiichi Nuclear Power Plants using Mobile Rescue Robots (2013)
  • Author(s): Keiji Nagatani, Seiga Kiribayashi, Yoshito Okada, Kazuki Otake, Kazuya Yoshida. Satoshi Tadokoro, Takeshi Nishimura, Tomoaki Yoshida, and Eiji Koyanagi, Mineo Fukushima and Shinji Kawatsuma
  • Journal Title: Journal of Field Robotics Volume: 30 Issue: 1 Pages: 44-63
  • DOI: 10.1002/rob.21439
  • Peer Reviewed
• [Presentation] 東北大学永谷研のつくばチャレンジへ取り組み (2014)
  • Author(s): 遠藤 大輔，幸村 貴臣， 鈴木 大貴， 山内 元貴， 永谷 圭司
  • Organizer: 第15回 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: 東京，東京ビックサイト
  • Year and Date: 2014-12-15 – 2014-12-16
• [Presentation] Teleoperation of mobile robots using hybrid communication system in unreliable radio communication environments (2014)
  • Author(s): Ryohei Tsuzuki, Keiji Nagatani, Genki Yamauchi
  • Organizer: Proceedings of the 2014 IEEE Int'l Workshop on Safety, Security and Rescue Robotics
  • Place of Presentation: 北海道，Toyako Cultural Center
  • Year and Date: 2014-10-27 – 2014-10-29
• [Presentation] 原発事故対応ロボット／火山探査ロボットの研究開発の紹介 (2014)
  • Author(s): 永谷圭司
  • Organizer: 第２回東北大学・カタールサイエンスキャンパス教育セミナー
  • Place of Presentation: 仙台，東北大学
  • Year and Date: 2014-10-22
  • Invited
• [Presentation] Development and Field Test of Teleoperated Mobile Robots for Active Volcano Observation (2014)
  • Author(s): Keiji Nagatani,Ken Akiyama,Genki Yamauchi,Kazuya Yoshida,Yasushi Hada,Shin'ichi Yuta,Tomoyuki Izu,Randy Mackay
  • Organizer: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Chicago, アメリカ合衆国
  • Year and Date: 2014-09-15 – 2014-09-18
• [Presentation] クローラロボットの階段における走行安定性 (2014)
  • Author(s): 遠藤大輔， 永谷圭司， 吉田和哉
  • Organizer: 第32回日本ロボット学会学術講演会予稿集
  • Place of Presentation: 福岡，九州産業大学
  • Year and Date: 2014-09-04 – 2014-09-06
• [Presentation] サブクローラに小型測距モジュールを搭載したクローラ型移動ロボットの階段走行の自律化 (2014)
  • Author(s): 幸村貴臣，永谷圭司，吉田和哉
  • Organizer: 日本機械学会 ロボティクス・メカトロニクス講演会
  • Place of Presentation: 富山，富山国際会議場
  • Year and Date: 2014-05-25 – 2014-05-27
• [Presentation] クローラ型移動ロボットを用いた東北大学永谷研のつくばチャレンジへの取り組み (2013)
  • Author(s): 幸村貴臣，山内元貴，都築遼平，永谷圭司
  • Organizer: 第14回 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: 神戸
• [Presentation] クローラの接地荷重情報を利用した多自由度クローラ型移動ロボットの走行制御 (2013)
  • Author(s): 野寄敬博，永谷圭司，吉田和哉，小柳栄次
  • Organizer: 日本機械学会 ロボティクス・メカトロニクス講演会
  • Place of Presentation: つくば
• [Presentation] Development of Multi-D.O.F. Tracked Vehicle to Traverse Weak Slope and Climb up Rough Slope (2013)
  • Author(s): Keiji Nagatani,Takahiro Noyori, Kazuya Yoshida
  • Organizer: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Tokyo
• [Presentation] 地上走行ロボットと飛行ロボットの協調による被災ビルの探査実験 (2012)
  • Author(s): 吉田和哉,永谷圭司,岡田佳都,桐林星河,大竹一樹,大野和則,竹内栄二朗,田所諭, N. Michael, S. Shen, K. Mohta, V. Kumar
  • Organizer: 第30回日本ロボット学会学術講演会
  • Place of Presentation: 北海道札幌
  • Year and Date: 2012-09-18
• [Presentation] Improvements to the rescue robot Quince Toward future indoor surveillance missions in the Fukushima Daiichi Nuclear Power Plant (2012)
  • Author(s): Tomoaki Yoshida, Keiji Nagatani, Satoshi Tadokoro, Takeshi Nishimura, and Eiji Koyanagi
  • Organizer: The 8th International Conference on Field and Service Robotics
  • Place of Presentation: 宮城県 松島
  • Year and Date: 2012-07-16
• [Presentation] Three-dimensional Thermography Mapping for Mobile Rescue Robots (2012)
  • Author(s): Keiji NAGATANI, Kazuki OTAKE, and Kazuya Yoshida
  • Organizer: The 8th International Conference on Field and Service Robotics
  • Place of Presentation: 宮城県 松島
  • Year and Date: 2012-07-16
• [Remarks] Keiji's Research
  • URL: http://www.astro.mech.tohoku.ac.jp/~keiji/Research/research.html
• [Remarks] 永谷の研究成果のページ
  • URL: http://www.astro.mech.tohoku.ac.jp/~keiji/Research/research.html
• [Remarks]
  • URL: http://www.astro.mech.tohoku.ac.jp/~keiji/Research/research_Rescue.html