2012 Fiscal Year Final Research Report

Consideration of Path Planning using Wheel with Tactile function to acquire Information of ground

Research Project

Project/Area Number	23760223
Research Category	Grant-in-Aid for Young Scientists (B)
Allocation Type	Multi-year Fund
Research Field	Intelligent mechanics/Mechanical systems
Research Institution	Shinshu University
Principal Investigator	IIZUKA Kojiro 信州大学, ファイバーナノテク国際若手研究者育成拠点, 助教 (10453672)
Project Period (FY)	2011 – 2012
Keywords	情報機器 / 知能機械システム
Research Abstract	This study considers the path planning using the information of subsidence under the wheels. In the study, we are developing the sensing wheel to measure the subsidence of the wheels. The sensors for the wheel are used the strain gauges. The strain gauges are mounted on grousers of the wheel. When the grouse are contacted on the surface of the loose soil, the subsidence is predicted using the values of strain gauges and the rotation angle of the wheel. If the robot can inform the subsidence before it has poor condition by the subsidence of the wheels, it can traverse in safety and with efficiency. Moreover, the path planning is updated by using theinformation of the subsidence. The effectiveness of the proposed wheel was indicated by the running experiments. We considered furthermore in the path planning using the proposed sensing wheel.

(4 results)