A Multiunit Wire-Mobile Robot that Avoids Obstacles and Transfers to Branch Wires

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概要

• 論文の詳細を見る

• Although there is a large demand for wire-mobile robots, it is very difficult to design a mobile robot that both avoids obstacles and transfers to a branch wire. This paper describes methods of obstacle avoidance and transferral to branch wires for a wire-mobile robot with a multiunit structure. Basic analysis, synthesis, and experimental results clarify the kinematics of and control method for this mobile robot. We also demonstrate an ultrasonic sensing system for environmental recognition, which is necessary for autonomous robot motion. The multiunit structure avoids obstacles, but it uses many actuators. We therefore propose a compact wire-mobile robot with a balancer that transfers the center of gravity.

• 一般社団法人日本機械学会の論文
• 1992-03-15

著者

• Yabuta Tetsuro

  Ntt Access Network Systems Laboratories

• Yabuta Tetsuro

  NTT Telecommunication Field Systems R & D Center

• Aoshima Shin-ichi

  Ntt Transmission Systems Laboratories

• TSUJIMURA Takeshi

  NTT Transmission Systems Laboratories

関連論文

• Dynamic Simplified Model and Autotuning of Feedback Gain for Directional Control Using a Neural Network for a Small Tunneling Robot
• Autotuning of Feedback Gains Using a Neural Network for a Small Tunneling Robot
• A Multiunit Wire-Mobile Robot that Avoids Obstacles and Transfers to Branch Wires

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