TY - GEN
T1 - Error Compensation System with Proximity Sensors for Vertical Ladder Climbing of the Robot 'WAREC-1'
AU - Sun, X.
AU - Hayashi, S.
AU - Hashimoto, K.
AU - Matsuzawa, T.
AU - Yoshida, Y.
AU - Sakai, N.
AU - Imai, A.
AU - Okawara, M.
AU - Kumagai, K.
AU - Matsubara, T.
AU - Yamaguchi, K.
AU - Takanishi, A.
N1 - Funding Information:
*This research was funded by ImPACT TRC Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan). This study was conducted with the support of Research Institute for Science and Engineering, Waseda University; Future Robotics Organization, Waseda University, and as a part of the humanoid project at the Humanoid Robotics Institute, Waseda University. This research was also partially supported by SolidWorks Japan K. K; DYDEN Corporation; and KITO Corporation whom we thank for their financial and technical support.
Publisher Copyright:
© 2018 IEEE.
PY - 2019/1/23
Y1 - 2019/1/23
N2 - This paper introduces a sensor system and motion that measure and compensate the error in position and orientation between robot's end-effectors and the rungs of ladder while climbing a ladder. This error has been a threat to vertical ladder climbing for a four-limbed robot and may directly cause failure in climbing, thus must be compensated. In detail, our error compensation system consists of 8 proximity sensors (2 sensors for each end-effector) powered by lithium batteries and data is transmitted via wireless communication. With the system constructed, corresponding algorithms to measure and calculate the amount of error in position and orientation as well as motion planning of the robot to compensate the error are proposed. Additionally, countermeasures are also prepared to deal with undesired situations, such as communication in low quality and incorrect data returned from proximity sensors. Simulation results of comparison with and without error compensation are presented and experiment results of the real robot are given to validate the effectiveness of our proposed system. Finally, discussions about results are shown and expected prospective works are concluded.
AB - This paper introduces a sensor system and motion that measure and compensate the error in position and orientation between robot's end-effectors and the rungs of ladder while climbing a ladder. This error has been a threat to vertical ladder climbing for a four-limbed robot and may directly cause failure in climbing, thus must be compensated. In detail, our error compensation system consists of 8 proximity sensors (2 sensors for each end-effector) powered by lithium batteries and data is transmitted via wireless communication. With the system constructed, corresponding algorithms to measure and calculate the amount of error in position and orientation as well as motion planning of the robot to compensate the error are proposed. Additionally, countermeasures are also prepared to deal with undesired situations, such as communication in low quality and incorrect data returned from proximity sensors. Simulation results of comparison with and without error compensation are presented and experiment results of the real robot are given to validate the effectiveness of our proposed system. Finally, discussions about results are shown and expected prospective works are concluded.
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U2 - 10.1109/HUMANOIDS.2018.8625073
DO - 10.1109/HUMANOIDS.2018.8625073
M3 - Conference contribution
AN - SCOPUS:85062258846
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 40
EP - 46
BT - 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
PB - IEEE Computer Society
T2 - 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
Y2 - 6 November 2018 through 9 November 2018
ER -