不整地環境を想定したロバストな多脚車輪型ロボットのための内界センサによる変位推定手法

抄録

In recent years, researches on autonomous mobile robots that work in unknown environments such as exploration robots and rescue robots are actively conducted. In previous studies, external sensors were often used to recognize external conditions, however, they are often unreliable in sandy or snowy environments. The purpose of this study is to estimate the displacement of a wheel-legged robot with high accuracy by using only the information obtained from the internal sensor. In this research, we focus on using only inexpensive internal sensors such as an acceleration sensor, a gyroscope, and a torque sensor (using strain gauge for the actual machine). To investigate the performance of the proposed displacement estimation method, experiments of the robot running through several environments were conducted using ROS and Gazebo. By the simulations, it was confirmed by the proposed method that displacement estimation accuracy has been improved.