| アイテムタイプ |
学術雑誌論文 / Journal Article(1) |
| 公開日 |
2020-11-24 |
| タイトル |
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|
タイトル |
Control of an articulated wheeled mobile robot in pipes |
|
言語 |
en |
| 言語 |
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|
言語 |
eng |
| キーワード |
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|
言語 |
en |
|
主題 |
Articulated mobile robot |
| キーワード |
|
|
言語 |
en |
|
主題 |
pipe |
| キーワード |
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|
言語 |
en |
|
主題 |
snake robot |
| 資源タイプ |
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資源タイプ識別子 |
http://purl.org/coar/resource_type/c_6501 |
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資源タイプ |
journal article |
| 著者 |
Sawabe, Hidemasa
Nakajima, Mizuki
Tanaka, Motoyasu
Tanaka, Kazuo
Matsuno, Fumitoshi
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| 抄録 |
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内容記述タイプ |
Abstract |
|
内容記述 |
We propose a control method in which an articulated wheeled mobile robot moves inside straight, curved and branched pipes. This control method allows the articulated wheeled mobile robot to inspect a larger area. The articulated wheeled mobile robot comprises pitch and yaw joints is and propelled by active wheels attached to the robot. Via the proposed control method, the robot takes on two different shapes; one prevents the robot from slipping inside straight pipes and the other allows movement in a pipe that curves in any direction. The robot is controlled by a simplified model for the robot's joint angles. The joint angles of the robot are obtained by fitting to a continuous curve along the pipe path. In addition, the angular velocity of the robot's active wheels is determined by a simplified model. The effectiveness of the proposed the control method was demonstrated with a physical implementation of the robot, and the robot was able to move inside straight, curved and branched pipes. |
| 書誌情報 |
en : Advanced Robotics
巻 33,
号 20,
p. 1072-1086,
発行日 2019-09-17
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| 出版者 |
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出版者 |
Taylor & Francis |
| ISSN |
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収録物識別子タイプ |
ISSN |
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収録物識別子 |
01691864 |
| DOI |
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関連タイプ |
isVersionOf |
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識別子タイプ |
DOI |
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|
関連識別子 |
10.1080/01691864.2019.1666737 |
| 権利 |
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|
権利情報 |
This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 17/09/2019, available online: http://www.tandfonline.com/10.1080/01691864.2019.1666737. |
| 関連サイト |
|
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|
識別子タイプ |
DOI |
|
|
関連識別子 |
https://doi.org/10.1080/01691864.2019.1666737 |
| 著者版フラグ |
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出版タイプ |
AM |
|
出版タイプResource |
http://purl.org/coar/version/c_ab4af688f83e57aa |
AR2019_pipe (5.8 MB)
