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Range-Sensor-Based Semiautonomous Whole-Body Collision Avoidance of a Snake Robot
https://uec.repo.nii.ac.jp/records/9287
https://uec.repo.nii.ac.jp/records/9287c98e51e4-445f-4956-89e5-cd75ea762c72
名前 / ファイル | ライセンス | アクション |
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2015_TCST (9.7 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2019-07-23 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Range-Sensor-Based Semiautonomous Whole-Body Collision Avoidance of a Snake Robot | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Snake robot | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Inspection in narrow spaces | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Collision avoidance | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Switching constraints | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Redundancy | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
Tanaka, Motoyasu
× Tanaka, Motoyasu× Kon, Kazuyuki× Tanaka, Kazuo |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This brief presents a control system for a snake robot based on range sensor data that semiautonomously aids the robot in avoiding collisions with obstacles. In the proposed system, an operator indicates the desired velocity of the first link of the robot using a joystick, and the joint input which accomplishes both the desired velocity of the first link and collision avoidance between subsequent links and obstacles is automatically calculated by the controller, which selects the links needed to be grounded and exploits redundancy. The controller uses real-time data from range sensors for obstacle positions. The experimental system, which has range sensors and the function generating environmental map using simultaneous localization and mapping, was developed with decreasing calculation cost, and experiments were performed to verify the effectiveness of the proposed system in unknown environments. | |||||
書誌情報 |
en : IEEE Transactions on Control Systems Technology 巻 23, 号 5, p. 1927-1934, 発行日 2015-09 |
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出版者 | ||||||
出版者 | IEEE | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 1063-6536 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1109/TCST.2014.2382578 | |||||
権利 | ||||||
権利情報 | © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. This is not the published version. Please cite only the published version. | |||||
関連サイト | ||||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1109/TCST.2014.2382578 | |||||
著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa |