| Project/Area Number |
14550243
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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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 | Shibaura Institute of Technology |
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Principal Investigator |
MIZUKAWA Makoto SHIBAURA INSTITUTE OF TECHNOLOGY, GRADUATE SCHOOL OF ENGINEERING MANAGEMENT(MOT PROGRAM) AND (DEPARTMENT OF ELECTRICAL ENGINEERING, FACULTY OF ENGINEERING), Prof, 大学院・工学マネジメント研究科, 教授 (20327753)
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| Project Period (FY) |
2002 – 2003
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| Project Status |
Completed (Fiscal Year 2003)
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| Budget Amount *help |
¥2,800,000 (Direct Cost: ¥2,800,000)
Fiscal Year 2003: ¥1,300,000 (Direct Cost: ¥1,300,000)
Fiscal Year 2002: ¥1,500,000 (Direct Cost: ¥1,500,000)
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| Keywords | HUMAN ROBOT INTERACTION / REMOTE CONTROL / NETWORKED ROBOTICS / PHYSICAL AGENT / AUTOMONOUS MOBILE ROBOT / OBSTACLE AVOIDANCE / IMAGE PROCESSING / XML / ヒューマンロボットインタラクション / ネットワークロボティクス / 自律移動 / 障害物回避 / 画像処理 / XML |
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| Research Abstract |
In this report, we propose the concept of the PAS (Physical Agent System) and its implementation. The PAS is the tele-operated autonomous robot system that acts as AGENT, and is used to support human collaboration activities over distant places using robots. The PAS consists of the autonomous mobile robot equipped with a CCD-camera, a laser-pointer and a arm. The mobile robot is controlled by the distributed microprocessor system to allow flexible system configuration and adoption of various effectors and sensors. The camera and laser -pointer system is used as the sensor and effecter of the operator in the remote site. The camera and laser -pointer system is also used as active vision system to measure the distance to the object pointed by the laser beam keeping the object in the view.
The mobile robot is driven by crawler. It is equipped with ultra-sonic sensors and PSDs to detect obstacles around the robot along the directed path. Using these sensors, the mobile robot autonomously avoids the obstacles keeping the goal pointed by the laser beam.
Another important feature of the PAS is the system description using XML (eXtensible Markup Language) to achieve flexible configuration and to adopt various devices by defining functions and specifications of the subsystems such as effectors, sensors and operation devices.
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