2016 Fiscal Year Research-status Report
動力学モデルに基づく球型転がりロボットの運動計画とその制御戦略
| Project/Area Number |
15K05900
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| Research Institution | Kyushu University |
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Principal Investigator |
M・M SVININ 九州大学, 工学研究院, 教授 (90274125)
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Keywords | ロボティクス / ス非ホロノミックシステム / モーションプランニング / 最適制御 / 拘束運動 |
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| Outline of Annual Research Achievements |
In the second year, having developed motion planning algorithms, we concentrated on the tracking problem for a spherical rolling robot driven by a pendulum with two degrees of freedom. The back-stepping technique was applied and tested first in the planar case (hoop-pendulum system). By mimicking the back-stepping process of the planar case, a feedback controller for the ball-pendulum system is then proposed, tracking motion trajectories for both the position and orientation of the spherical shell of the rolling robot. The validity of the constructed tracking controller is demonstrated by establishing the asymptotic stability of the error dynamics for the closed-loop system. The performance of the controller is verified under simulations for tracking linear and circular motions.
Based on these results, we have also proposed a generic control method for non-square systems where the number of system inputs is not equal to that of the outputs. In our approach, the stabilization for a non-square system is reformulated as an adaptive control problem for a square system that can be solved with the use of the function approximation technique. The feasibility of the proposed control method was verified under simulations for linear control systems, nonlinear under-actuated systems, and non-holonomic systems.
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| Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
The results of our research have been presented at several top-level international robotics conferences (IEEE ICRA, IEEE/RSJ IROS, and IEEE/SICE SII conventions). The key points and main features of our research have been communicated in the robotics research community and a positive feedback and constructive suggestions have been received. Based on the opinions collected from top researchers, we can proceed with our research plan without considerable modifications and delays.
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| Strategy for Future Research Activity |
The remaining part of our project combines both theoretical and experimental investigations. In the theoretical part, we will use methods of geometric control in order to formulate feedback stabilization strategies for tracking desired trajectories. In particular, we plan to bring into consideration adaptive function approximation technique to deal with uncertainties in tracking control over the configuration manifold.
In the experimental part, we will design a spherical rolling robot for the practical evaluation of motion control programs. The robot will have two actuators and correspond to pendulum-driven class (either with real pendulum or a mass point actuation on orthogonal spherical slots). Experimental work is very important part of our project since all the theoretical ideas about feasible control strategies should be verified under experiments. The online implementation of the motion planning strategies and feedback control algorithms will be tested under experiments. It is very important at this stage to integrate different sensing schemes providing accurate measurements of the angular velocity of the rolling carrier and its position and orientation in the configuration space.
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| Causes of Carryover |
This research combines both theoretical and experimental work. In the first two years, we concentrated mainly on the theoretical development of a) motion planning strategies and b) feedback control algorithms for tracking desired trajectories. Also preliminary design considerations have been sketched and drawn up. Thus, the experimental part was in large shifted to the third year, and this was reflected in the actual spending. In the third year, we will continue the theoretical work on motion planning and tracking control and will come to actual prototyping of rolling robots with minimal number of actuators.
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| Expenditure Plan for Carryover Budget |
For the experimental work of our project, we plan to purchase basic mechanical components of the rolling robots which, in the minimal configuration (pendulum and mass point driven ones), include four motors, two gyro-sensors, and special spherical shells. Also, we plan to purchase at least two computers to control the robots, including the low level control software for programming the drivers. In the theoretical part of this research, we plan to purchase optimal control software tools to verify the correctness of theoretical constructions. In addition to the above mentioned, we also plan to discuss and disseminate our results at the top-level international and domestic robotics conferences.
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