A new 3D-odometry using tactile wheels and gyroscopes

2017 Fiscal Year Final Research Report

• Project/Area Number: 26420217
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Gunma National College of Technology (2015-2017); Oyama National College of Technology (2014)
• Principal Investigator: Ichimura Tomoyasu (大谷智康) 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
• 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

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.

Free Research Field

移動ロボット