Dynamics

Dynamics

Environment Recognition Using Actuator’s Internal Sensor

Generally, servo motor actuators are equipped with an angle sensor to control the joint angle and a current sensor to control the joint torque. In this research, we are pursuing a method to use these sensors, which are originally intended for actuator control, for environmental change detection as well. Although mechanical contact is always required to realize environment recognition by an actuator, it has the advantage of being able to recognize the environment using only internal sensors without using external sensors such as a camera or a laser sensor. We have applied this method to the following robots so far.

Automatic T-branch Travel

In the case of the following articulated wheel-type in-pipe inspection robot, it is necessary to keep the wheels in constant contact with the pipe and press on it with sufficient force in order to move forward without slipping. To achieve this, the joint torque in this research is controlled by a polyurethane series elastic actuator. However, in the case of a T-branch, it is necessary to switch from joint torque control to joint angle control to force the robot to bend its body. However, it is difficult for a human to successfully switch control objects while watching a camera, and training is required. On the other hand, this actuator has two built-in angle sensors (potentiometers) for control. Therefore, we proposed a method to automatically switch the control target by using only the change in the value of the angle sensor when the robot enters the T-branch.

Related Works

  1. Atsushi Kakogawa, Kenya Murata, and Shugen Ma, Automatic T-branch Travel of an Articulated Wheeled In-pipe Inspection Robot Using Joint Angle Response to Environmental Changes, IEEE Transactions on Industrial Electronics, Vo. 70, Iss. 7, pp. 7041-7050, 2023
  2. 村田憲哉，加古川篤，馬書根，１自由度能動関節のみを用いた連結車輪型管内移動ロボットのT字管走行 ―第2 報：角度センサの配置による関節角度およびトルクの計測性能の比較―，日本機械学会ロボティクス・メカトロニクス講演会 2022，2P1-M09，2022
  3. Atsushi Kakogawa, Yutaro Kushitani, and Shugen Ma, Automatic T-branch Travel of a Multi-link In-pipe Inspection Robot based on Joint Torque Value, 5th International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2022), 2022

Grippers that Allow Mechanical Contact

Coming Soon.

※本成果は，立命館大学グローバルイノベーション研究機構の川村貞夫特別招聘研究教授との共同研究の結果，生まれたものです．本研究の一部は，内閣府が進める「戦略的イノベーション創造プログラム（SIP）第2 期／フィジカル空間デジタルデータ処理基盤」（管理法人：NEDO）によって実施されました．

Related Works

  1. 松野 晃治，加古川 篤，川村 貞夫，低摩擦ギアード電動モータを用いた二指グリッパによる高速把持，第39回日本ロボット学会学術講演会（RSJ 2021），1G4-05，2021
  2. 松野 晃治，森 佳樹，加古川 篤，川村 貞夫，環境接触の積極的利用によるセンサレス二指グリッパの物体高速把持，第22回計測自動制御学会 システムインテグレーション部門講演会（SI2021），2021
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