柔軟ポテンショメータを用いた柔軟全周囲クローラの姿勢計測

衣笠 哲也; 赤木 徹也; 石井 邦明; 土師 貴史; 吉田 浩治; 大谷 勇太; 天野 久徳; 林 良太; 徳田 献一; 大須賀 公一

doi:10.11511/jacc.53.0.211.0

THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : 461

DOI https://doi.org/10.11511/jacc.53.0.211.0

Conference information

Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Advanced Robotics 1

Measurement of Attitude for Flexible Mono-Tread Mobile Track using Flexible Potentiometer

*Tetsuya Kinugasa, Tetsuya Akagi, Kuniaki Ishii, Takafumi Haji, Koji Yoshida, Yuta Otani, Hisanori Amano, Ryota Hayashi, Kenichi Tokuda, Koichi Osuka

Author information

Keywords: Flexible mono-tread mobile track, Flexible displacement sensor, Measurement of attitude for flexible robot

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

We have proposed a new mobile mechanism on rough terrain called flexible mono-tread mobile track (FMT). FMT is a tracked vehicle which can flex in 3-D. A prototype of FMT has been developed and its mobility has been revealed. Steering property of FMT is decided by its flexed posture. Thus, it is important to measure the flexed posture for autonomous control. Since FMT has vertebral structure, it is difficult for normal angular sensors to measure. Hence, the purpose of the paper is to measure the flexed posture of FMT using a new flexible potentiometer. The effectiveness of the method is validated by some experiments.

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