2011 Fiscal Year Final Research Report
Motion Estimation and Control of a Flexible Serpentine Robot by Motion Stereo and Distributed Sensors
| Project/Area Number |
21360111
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tohoku University |
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Principal Investigator |
TADOKORO Satoshi 東北大学, 大学院・情報科学研究科, 教授 (40171730)
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| Co-Investigator(Kenkyū-buntansha) |
TAKEUCHI Eijiro 東北大学, 大学院・情報科学研究科, 助教 (00509680)
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| Project Period (FY) |
2009 – 2011
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| Keywords | ソフトメカニクス |
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| Research Abstract |
Estimation of motion and cable shape was studied using internal sensors of Active Scope Camera. By methods using only camera image and motion sensors, 6-DOF motion could be estimated in room environment, but rubble environments made the estimation difficult because of motion of the lights. By applying an unscented Kalman filter to a dynamic model of flexible cables by ANCF, the accuracy of estimation was improved for sparse sensors and/or large disturbance.
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