Study on Relationship between Traveling State and Chassis Strain at Traveling Loose Soil for Rovers

Kohei Inaba, Kojiro Iizuka

研究成果: Conference contribution

抄録

The surface of the moon and planets have been covered with loose soil, and there is a risk that the wheels may stack, so it is necessary for the rover to recognize the traveling state. However, in such environments as nighttime and dark spaces, the visibility of the rover is degraded by the camera based method, and a new system for recognizing the traveling state is required. As a new method for recognizing the driving state, we focused on the intrinsic sensation of the human body and aimed to develop a system that recognizes the travelling state from the shape deformation of legs. In this study, we experimentally verified the relationship between the change in strain, which is the amount of deformation acting on the, and the traveling state when the wheel travels. From the experimental results, we confirmed that the strain in the leg was displaced and that the strain changed oscillatory when the wheel was traveling. In addition, based on the function of muscle spindles as mechanoreceptors, we discussed two methods of analyzing the strain change: nuclear chain fiber analysis and nuclear bag fiber analysis. From these analysis methods, we detected changes in the force applied to the wheels and the movement of the ground during traveling from the strain. Therefore, the change of the traveling state could be detected by the strain, and it was confirmed that the traveling state could be detected.

本文言語English
ホスト出版物のタイトル2021 6th International Conference on Mechanical Engineering and Robotics Research, ICMERR 2021
出版社Institute of Electrical and Electronics Engineers Inc.
ページ136-141
ページ数6
ISBN(電子版)9781665406420
DOI
出版ステータスPublished - 2021
イベント6th International Conference on Mechanical Engineering and Robotics Research, ICMERR 2021 - Virtual, Krakow, Poland
継続期間: 2021 12月 112021 12月 13

出版物シリーズ

名前2021 6th International Conference on Mechanical Engineering and Robotics Research, ICMERR 2021

Conference

Conference6th International Conference on Mechanical Engineering and Robotics Research, ICMERR 2021
国/地域Poland
CityVirtual, Krakow
Period21/12/1121/12/13

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 機械工学
  • 制御と最適化

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