A new 3D-odometry using tactile wheels and gyroscopes
| Project/Area Number |
26420217
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Gunma National College of Technology (2015-2017)
Oyama National College of Technology (2014) |
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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)
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| Project Period (FY) |
2014-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| 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)
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| 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 |
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| 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.
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Report
(5 results)
Research Products
(4 results)
