Development and evaluation of autonomous mobile manipulator for large scale outdoor environment

Takeshi Ohki, Kiichi Sato, Keiji Nagatani, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Recently, there has been rapid progress in the development of nondestructive sensing method for underground structures using artificial earthquake and seismometer array technology. However, this requires the deployment of many sensing devices over a wide area on a target outdoor field; such work is currently conducted in manually. To automate such work, our research group has been developing an autonomous mobile manipulator system for automatic rather than manual deployment of sensing devices. To realize such a deployment, the important technical issues are "mobility on rough terrain," "3D localization," and "manipulation." In this research, we designed and implemented these functions in our mobile manipulator system, called "El-Verde," and conducted field tests to validate its capability and to identify problems when applied in a real environment. In this paper, we introduce its implementation and report the field-test results.

Original languageEnglish
Title of host publication2011 IEEE/SICE International Symposium on System Integration, SII 2011
Pages463-468
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
Duration: 2011 Dec 202011 Dec 22

Publication series

Name2011 IEEE/SICE International Symposium on System Integration, SII 2011

Other

Other2011 IEEE/SICE International Symposium on System Integration, SII 2011
CountryJapan
CityKyoto
Period11/12/2011/12/22

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Development and evaluation of autonomous mobile manipulator for large scale outdoor environment'. Together they form a unique fingerprint.

  • Cite this

    Ohki, T., Sato, K., Nagatani, K., & Yoshida, K. (2011). Development and evaluation of autonomous mobile manipulator for large scale outdoor environment. In 2011 IEEE/SICE International Symposium on System Integration, SII 2011 (pp. 463-468). [6147493] (2011 IEEE/SICE International Symposium on System Integration, SII 2011). https://doi.org/10.1109/SII.2011.6147493