ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A2-10a6
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柔軟索状レスキューロボットのためのマイクロホン・加速度センサアレイを用いた3次元姿勢推定
坂東 宜昭糸山 克寿昆陽 雅司田所 諭中臺 一博吉井 和佳奥乃 博
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This paper presents an online method that estimates a 3D posture of a hose-shaped rescue robot using a microphone and accelerometer array. Posture (shape) estimation of a self-driving hose-shaped rescue robot is crucial for handling the robot body because the unseen robot posture deforms in narrow spaces under collapsed buildings. Conventional sound-based method that uses time-differences of arrivals (TDOAs) works only on a two-dimensional surface and is often hampered by the rubble around the robot. Our method eliminates the outliers of sound-based TDOA measurements, and compensates the lack of the posture information with the tilt information measured by accelerometers. Experimental results using a 3-m hose-shaped robot that was deployed in a simple 3D structure demonstrate that our method reduces the errors of initial states to about 20cm in the 3D space.

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© 2016 一般社団法人 日本機械学会
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