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Development of structural design and control of a mobile robot for decreasing weight with driving stability on unstructured terrain

Research Project

Project/Area Number 24560287
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionNiigata University

Principal Investigator

OKADA TOKUJI  新潟大学, 自然科学系, フェロー (60194362)

Project Period (FY) 2012-04-01 – 2015-03-31
Project Status Completed (Fiscal Year 2014)
Budget Amount *help
¥5,460,000 (Direct Cost: ¥4,200,000、Indirect Cost: ¥1,260,000)
Fiscal Year 2014: ¥390,000 (Direct Cost: ¥300,000、Indirect Cost: ¥90,000)
Fiscal Year 2013: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2012: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
Keywords知能機械 / メカトロニクス / 移動ロボット / 車いす / 有限要素法 / サスペンション
Outline of Final Research Achievements

In order to design an electric wheelchair that can move autonomously and adaptively on an irregular terrain by getting simple commands given by a driver utilizing two inclination sensors, we built a robust and simple mechanical mobile robot system having wheels with feet. Also, we demonstrated the usefulness of the system in a practical field. In addition, we showed a method of designing a lightweight chassis for aiming a robot body that takes a role of suspensions too. The method made the robot stand stably with four contacts even when the ground is not even. The robot can press the feet against the ground in need by adjusting the height of a wheel axis position when it traverses a slope, for instance. Thus the robot body is decreased from bending even when the body is elastic and the driving became safe by preventing the robot from falling down. This study clarified technical considerations to make the stable navigation in hardware and software viewpoints.

Report

(4 results)
  • 2014 Annual Research Report   Final Research Report ( PDF )
  • 2013 Research-status Report
  • 2012 Research-status Report
  • Research Products

    (15 results)

All 2015 2014 2013 2012 Other

All Journal Article (2 results) (of which Peer Reviewed: 2 results,  Open Access: 1 results,  Acknowledgement Compliant: 1 results) Presentation (6 results) Book (3 results) Remarks (3 results) Patent(Industrial Property Rights) (1 results) (of which Overseas: 1 results)

  • [Journal Article] Chassis design of a mobile robot for reducing weight by excluding suspension elements2015

    • Author(s)
      T.Okada, N.Mimura, T.Shimizu
    • Journal Title

      J. of Automation, Mobile Robotics and Intelligent Systems

      Volume: 9(2) Pages: 43-52

    • DOI

      10.14313/jamris_2-2015/17

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] Trajectory estimation of a skid-steering mobile robot propelled by independently driven wheels2012

    • Author(s)
      Tokuji Okada, Abeer Mahmoud, Wagner Tanaka Botelho, Toshimi Shimizu
    • Journal Title

      Journal of ROBOTICA

      Volume: Vol.30 no.1 Issue: 1 Pages: 123-132

    • DOI

      10.1017/s026357471100035x

    • Related Report
      2012 Research-status Report
    • Peer Reviewed
  • [Presentation] 足付き車いす車体の対地適応水平制御2014

    • Author(s)
      岡田徳次、三村宣治、今村 孝
    • Organizer
      第32回日本ロボット学会学術講演会
    • Place of Presentation
      九州産業大学
    • Year and Date
      2014-09-04 – 2014-09-06
    • Related Report
      2014 Annual Research Report
  • [Presentation] Chassis design of a mobile robot for reducing weight by excluding suspension elements2014

    • Author(s)
      T. Okada, N. Mimura, T. Shimizu, H. Wada
    • Organizer
      17th International Conference on Climbing and Walking Robots (CLAWAR2014)
    • Place of Presentation
      University of Sidney (UTS)
    • Year and Date
      2014-07-21 – 2014-07-23
    • Related Report
      2014 Annual Research Report
  • [Presentation] Hand manouevred wheelchair using wheels fitted with feet for enhanced mobility2013

    • Author(s)
      Tokuji Okada, Hiroshi Wada, Nobuharu Mimura, Toshimi Shimizu, koutarou Nagata
    • Organizer
      16th International. Conference. on Climbing and Walking Robots (CLAWAR2013)
    • Place of Presentation
      Univ. of Technology, Sydney (Australia)
    • Related Report
      2013 Research-status Report
  • [Presentation] ロボットの軽量化に有効なサスペンションレス車体基板の設計2013

    • Author(s)
      岡田徳次、三村宣治、清水年美、和田博
    • Organizer
      第31回日本ロボット学会学術講演会
    • Place of Presentation
      首都大学東京南大沢キャンパス
    • Related Report
      2013 Research-status Report
  • [Presentation] Smooth walk of a skid-steering vehicle consisting of feet jointed to each wheel rim2012

    • Author(s)
      Tokuji Okada, Satoru Tezuka, Hiroshi Wada
    • Organizer
      15th Inernational Conference on Climbing and Walking Robots (CLAWAR2012)
    • Place of Presentation
      Johns Hopkins University (USA)
    • Related Report
      2012 Research-status Report
  • [Presentation] 二つの傾斜センサを用いるロボットの対地移動状況把握2012

    • Author(s)
      岡田徳次、手塚 悟、三村宣治、和田 博
    • Organizer
      第30回日本ロボット学会学術講演会
    • Place of Presentation
      札幌コンベンションセンター(北海道)
    • Related Report
      2012 Research-status Report
  • [Book] Mobile Service Robotics (ISBN-978-981-4623-34-6)2014

    • Author(s)
      Krzysztof Kozlowski, Mohammad Tokhi, Gurvinder Virk
    • Total Pages
      720
    • Publisher
      World Scientific
    • Related Report
      2014 Annual Research Report
  • [Book] Nature-Inspired Mobile Robotics (ISBN 978-981-4525-52-7)2013

    • Author(s)
      K.J. Waldron, M.O. Tokhi, G.S. Virk
    • Total Pages
      861
    • Publisher
      World Scientific
    • Related Report
      2013 Research-status Report
  • [Book] Adaptive Mobile Robotics (ISBN-978-981-4415-94-1)2012

    • Author(s)
      A.K. Azad, N.J. Cowan, M.O. Tokhi, G.S. Virk, R.D. Eastman
    • Total Pages
      881
    • Publisher
      World Scientific
    • Related Report
      2012 Research-status Report
  • [Remarks] メカトロニクス研究室

    • URL

      http://okada.eng.niigata-u.ac.jp

    • Related Report
      2014 Annual Research Report
  • [Remarks] Robotics & Mechatronics Laboratory 研究紹介

    • URL

      http://okada.eng.niigata-u.ac.jp

    • Related Report
      2013 Research-status Report
  • [Remarks] Robotics & Mechatronics Laboratory 研究紹介

    • URL

      http://okada.eng.niigata-u.ac.jp

    • Related Report
      2012 Research-status Report
  • [Patent(Industrial Property Rights)] Wheelchair provided with feet2014

    • Inventor(s)
      岡田徳次
    • Industrial Property Rights Holder
      岡田徳次
    • Industrial Property Rights Type
      特許
    • Filing Date
      2014-02-26
    • Related Report
      2013 Research-status Report
    • Overseas

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Published: 2013-05-31   Modified: 2019-07-29  

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