平面での自由度を高めたセンサー移動機構の開発

抄録

This paper introduces practical design and hardware implementation issues of a sensor-positioner prototype toward enlarging the field-of-view (FoV) of robots. When human beings intend to carefully look the unseen side of an object located on their front, they move their head from side to side. Based on such an inspiration experienced, a translating and rotating sensor positioner prototype is designed and implemented. Furthermore, the prototype with a particular emphasis on variable rotation range and speed, as well as 360-degree observation capability has been developed. This paper provides a detailed presentation on how to realize the sensor positioner and integrate it with a mobile robot. The functionality of the positioner mounted on a mobile robot and the effectiveness of the observation scheme are verified through extensive experiments.