TY - GEN
T1 - Compound manipulation mode for improving task-ability of multi-arm multi-flipper crawler robot
AU - Chen, Kui
AU - Kamezaki, Mitsuhiro
AU - Katano, Takahiro
AU - Kaneko, Taisei
AU - Azuma, Kohga
AU - Uehara, Yusuke
AU - Ishida, Tatsuzo
AU - Seki, Masatoshi
AU - Ichiryu, Ken
AU - Sugano, Shigeki
N1 - Funding Information:
This research was supported in part by the Industrial Cluster Promotion Project in Fukushima Pref., in part by the Research Institute for Sci. and Eng., Waseda University, and in part by the China Scholarship Council.
Publisher Copyright:
© 2017 IEEE.
PY - 2018/2/1
Y1 - 2018/2/1
N2 - This paper presents a new manipulation mode for multi-arm and multi-flipper robots to improve the manipulation ability of them. Multi-arm and multi-flipper crawler robots designed for disaster response or other uses are naturally divided into two function parts from the design stage. There are the crawlers and the flippers for robot locomotion tasks, and the arms for manipulation tasks. In this design concept, the flippers and arms are hardly to systematically and actively cooperate with each other, and these control systems cannot fully play the structural features of this kind of robot. To solve this problem, we proposed a compound manipulation mode (CMM) for multi-arm multi-flipper robot. In this control mode, the flippers and arms are controlled as a whole in manipulation tasks, the flippers will support the arms to own bigger manipulation space, to have better manipulation posture and to optimize the position of robot center of gravity (COG) to make sure robot in good stable state. Four arm and four flipper robot OCTOPUS was used as the test platform, and the verification experiments were carried out. The results indicated that CMM control mode can achieve all the proposals, therefore the concept of CMM control mode is successful and useful.
AB - This paper presents a new manipulation mode for multi-arm and multi-flipper robots to improve the manipulation ability of them. Multi-arm and multi-flipper crawler robots designed for disaster response or other uses are naturally divided into two function parts from the design stage. There are the crawlers and the flippers for robot locomotion tasks, and the arms for manipulation tasks. In this design concept, the flippers and arms are hardly to systematically and actively cooperate with each other, and these control systems cannot fully play the structural features of this kind of robot. To solve this problem, we proposed a compound manipulation mode (CMM) for multi-arm multi-flipper robot. In this control mode, the flippers and arms are controlled as a whole in manipulation tasks, the flippers will support the arms to own bigger manipulation space, to have better manipulation posture and to optimize the position of robot center of gravity (COG) to make sure robot in good stable state. Four arm and four flipper robot OCTOPUS was used as the test platform, and the verification experiments were carried out. The results indicated that CMM control mode can achieve all the proposals, therefore the concept of CMM control mode is successful and useful.
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U2 - 10.1109/SII.2017.8279256
DO - 10.1109/SII.2017.8279256
M3 - Conference contribution
AN - SCOPUS:85050999624
T3 - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
SP - 463
EP - 468
BT - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/SICE International Symposium on System Integration, SII 2017
Y2 - 11 December 2017 through 14 December 2017
ER -