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A new 3D-odometry using tactile wheels and gyroscopes

Research Project

Project/Area Number 26420217
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionGunma National College of Technology (2015-2017)
Oyama National College of Technology (2014)

Principal Investigator

Ichimura Tomoyasu  群馬工業高等専門学校, 電子情報工学科, 准教授 (60360327)

Project Period (FY) 2014-04-01 – 2018-03-31
Project Status Completed (Fiscal Year 2017)
Budget Amount *help
¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Fiscal Year 2016: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2015: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2014: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Keywords三次元自己位置推定 / 接地点検出 / ジャイロセンサ / 2輪ロボット / ジャイロ / 赤外線近接センサ
Outline of Final Research Achievements

We have developed a new 3D-odometry using tactile wheels and gyroscopes to achieve a better locational accuracy of standard 3D-odometry. This method estimates the location of a robot by integrating the turning motion around an instantaneous 3D axis that is computed from data on the wheel-terrain contact points and the attitude. Firstly, a tactile wheel using an infrared proximity sensor was made and evaluated. Furthermore, we made a verification bike robot equipped with the tactile wheels and gyroscopes. Finally, the new method was verified on an uneven terrain made of FRP by a motion capture system.

Report

(5 results)
  • 2017 Annual Research Report   Final Research Report ( PDF )
  • 2016 Research-status Report
  • 2015 Research-status Report
  • 2014 Research-status Report
  • Research Products

    (4 results)

All 2017 2016 2015 2014

All Presentation (4 results) (of which Int'l Joint Research: 3 results)

  • [Presentation] Influence of Wheel - Terrain Contact Point Information Errors on the Accuracy of Three - Dimensional Space Odometry Using Tactile Wheels and Gyros2017

    • Author(s)
      T. Ichimura and W. Choi
    • Organizer
      The 17th Int. Conf. on Control, Automation and Systems
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 3D-Odometry Using Tactile Wheels and Gyros: Localization Simulation of a Bike Robot2016

    • Author(s)
      T. Ichimura
    • Organizer
      The 16th International Conference on Control, Automation and Systems
    • Place of Presentation
      Gyeongju, Korea
    • Year and Date
      2016-10-16
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] Development of a Tactile Wheel for a Small Robot Using an Infrared Proximity Sensor2015

    • Author(s)
      T. Ichimura and S. Hoshino
    • Organizer
      The 6th International Conference on Advanced Mechatronics
    • Place of Presentation
      Tokyo
    • Year and Date
      2015-12-05
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] 赤外線近接センサを用いる車輪の接地点検出法2014

    • Author(s)
      市村智康,石井貴大
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2014
    • Place of Presentation
      富山県富山市
    • Year and Date
      2014-05-25 – 2014-05-29
    • Related Report
      2014 Research-status Report

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Published: 2014-04-04   Modified: 2019-03-29  

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