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

Takeshi Ohki, Kiichi Sato, Keiji Nagatani, Kazuya Yoshida

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2011 IEEE/SICE International Symposium on System Integration, SII 2011
ページ463-468
ページ数6
DOI
出版ステータスPublished - 2011
イベント2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
継続期間: 2011 12月 202011 12月 22

出版物シリーズ

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

Other

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

ASJC Scopus subject areas

  • コンピュータ ネットワークおよび通信
  • 制御およびシステム工学

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