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Semiautonomous recovery system from a stuck state of an articulated mobile robot

2023; Taylor & Francis; Volume: 37; Issue: 17 Linguagem: Inglês

10.1080/01691864.2023.2240878

1568-5535

Koki Furuike, Mizuki Nakajima, Shinnosuke Fukumura, Motoyasu Tanaka,

Robotic Locomotion and Control

ABSTRACTA semiautonomous system is presented in this paper that recovers an articulated mobile robot from a stuck state in which the robot cannot move forward due to contact with the environment. Assuming the specific robot, the stuck states are classified into four types, depending on the position of contact with the environment. In the recovery system, the contact area causing the movement failure is identified using a contact position and magnitude of contact force obtained by the pressure sensor mounted on the robot. Motion candidates for recovery from each stuck state are autonomously calculated and presented to the operator via the user interface. The operator then selects an appropriate motion from the candidates, and the robot performs the recovery motion. An articulated mobile robot with sensors was developed, and experiments were conducted to demonstrate the effectiveness of the proposed system. As a result, the recovery of the robot from each stuck state using the proposed system was verified.KEYWORDS: Articulated mobile robotrecoverystucksnake robotuser interface Disclosure statementNo potential conflict of interest was reported by the author(s).Additional informationFundingThis work was partially supported by the JAEA Nuclear Energy S&T and Human Resource Development Project through concentrating wisdom Grant Number JPJA19B19209927 and the ImPACT Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan).Notes on contributorsKoki FuruikeKoki Furuike received B.Eng., M.Eng. from the Department of Mechanical and Intelligent Systems Engineering, the University of Electro-Communications, Tokyo, Japan, in 2021, and 2023, respectively. He is currently with Renesas Electronics Corporation.Mizuki NakajimaMizuki Nakajima received B.Eng., M.Eng., and Ph.D. degrees in engineering from the Department of Mechanical Engineering and Intelligent Systems, the University of Electro-Communications in 2014, 2016, and 2020, respectively. He is currently a project assistant professor at the Department of Mechanical and Intelligent Systems Engineering, the University of Electro-Communications. His research interests include the development and control of snake robots.Shinnosuke FukumuraShinnosuke Fukumura received B.Eng., M.Eng. from the Department of Mechanical and Intelligent Systems Engineering, the University of Electro-Communications, Tokyo, Japan, in 2019, and 2021, respectively. He is currently with Azbil Corporation.Motoyasu TanakaMotoyasu Tanaka received B.Eng., M.Eng., and Ph.D. degrees in engineering from the Department of Mechanical Engineering and Intelligent Systems, the University of Electro-Communications, Tokyo, Japan, in 2005, 2007, and 2009, respectively. From 2009 to 2012, he was with Canon, Inc., Tokyo. He is currently a professor at the Department of Mechanical and Intelligent Systems Engineering, the University of Electro-Communications. His research interests include biologically inspired robotics and their applications.