DocumentCode :
3265133
Title :
Development and evaluation of autonomous mobile manipulator for large scale outdoor environment
Author :
Ohki, Takeshi ; Sato, Kiichi ; Nagatani, Keiji ; Yoshida, Kazuya
Author_Institution :
Dept. of Aerosp. Eng., Tohoku Univ., Sendai, Japan
fYear :
2011
fDate :
20-22 Dec. 2011
Firstpage :
463
Lastpage :
468
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.
Keywords :
earthquake engineering; manipulators; mobile robots; seismometers; sensor placement; 3D localization; 3D manipulation; artificial earthquake; autonomous mobile manipulator system; conducted field tests; field test result; large scale outdoor environment; nondestructive sensing method; real environment; seismometer array technology; sensing device deployment; underground structure; Argon; Current measurement; Equations; Gyroscopes; Manipulators; Wheels; Zinc;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
System Integration (SII), 2011 IEEE/SICE International Symposium on
Conference_Location :
Kyoto
Print_ISBN :
978-1-4577-1523-5
Type :
conf
DOI :
10.1109/SII.2011.6147493
Filename :
6147493
Link To Document :
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