Pub Date : 2023-12-21DOI: 10.1186/s40648-023-00268-6
S. Oh-hara, Atsushi Fujimori
{"title":"A Leader-follower formation control of mobile robots by position-based visual servo method using fisheye camera","authors":"S. Oh-hara, Atsushi Fujimori","doi":"10.1186/s40648-023-00268-6","DOIUrl":"https://doi.org/10.1186/s40648-023-00268-6","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"22 14","pages":"1-14"},"PeriodicalIF":1.4,"publicationDate":"2023-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138948435","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-19DOI: 10.1186/s40648-023-00269-5
Toshio Takayama, Masaki Waragai
Electric motors are used globally, especially in industrial applications, and achieving high energy efficiency is a major problem. Variable transmissions are effective in reducing the energy consumption of motors, but practical variable transmissions are bulky and heavy, making them unsuitable for robots. To overcome this problem, two motor-driven mechanisms have been proposed. The two motors are operated independently and assigned to the high-speed drive and high-torque drive, and one motor always becomes dead weight. Therefore, we propose a coupled-driven switchable transmission system that can switch the high-speed and high-torque drives by combining the rotation directions and utilizing the output of both motors. The developed device uses two 22-W motors and can switch the reduction ratio from 1/15 to 1/375. The maximum torque, maximum rotation speed, and weight are 10 Nm, 500 rpm, and 905 g, respectively. The experimental results show that the relative speeds of two motors are significant for the coupled drive; nevertheless, this device can be controlled by conventional voltage control without precise speed control.
{"title":"Coupled-driven high-speed and high-torque switchable transmission with a large transmission ratio","authors":"Toshio Takayama, Masaki Waragai","doi":"10.1186/s40648-023-00269-5","DOIUrl":"https://doi.org/10.1186/s40648-023-00269-5","url":null,"abstract":"Electric motors are used globally, especially in industrial applications, and achieving high energy efficiency is a major problem. Variable transmissions are effective in reducing the energy consumption of motors, but practical variable transmissions are bulky and heavy, making them unsuitable for robots. To overcome this problem, two motor-driven mechanisms have been proposed. The two motors are operated independently and assigned to the high-speed drive and high-torque drive, and one motor always becomes dead weight. Therefore, we propose a coupled-driven switchable transmission system that can switch the high-speed and high-torque drives by combining the rotation directions and utilizing the output of both motors. The developed device uses two 22-W motors and can switch the reduction ratio from 1/15 to 1/375. The maximum torque, maximum rotation speed, and weight are 10 Nm, 500 rpm, and 905 g, respectively. The experimental results show that the relative speeds of two motors are significant for the coupled drive; nevertheless, this device can be controlled by conventional voltage control without precise speed control.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"33 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2023-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138745914","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-18DOI: 10.1186/s40648-023-00267-7
Tomohiro Komatsu, Keiji Nagatani, Yasuhisa Hirata
This paper describes the effect of applying spiral model to the development process of robot system for a new entrant company. The robot system was developed to remotely control a conventional hydraulic excavator in order to improve the safety of operators in disaster emergency restoration. The issues of development are the definition of requirements and integration for a practical system in a real environment by a new entrant company. The constraints to the new entry of smaller companies are the following three points. (1) Lack of industry knowledge and data to define requirements (2) Lack of on-site environment and machinery for investigation and testing (3) Lack of experience in robot development To solve the problems under these constraints, the spiral model divides the development based on the prototype into 4-steps, and repeats this series of processes. This method was applied to clarify the necessary functions and performance of the robot step by step, and to construct a system with robustness in a real environment. As a result, this robot system has been successfully utilized in emergency disaster recovery tasks due to landslides, and removing debris in the Fukushima Daiichi Nuclear Power Plant, reducing the mental and physical burden on the operators.
{"title":"Spiral model development of retrofitted robot for tele-operation of conventional hydraulic excavator","authors":"Tomohiro Komatsu, Keiji Nagatani, Yasuhisa Hirata","doi":"10.1186/s40648-023-00267-7","DOIUrl":"https://doi.org/10.1186/s40648-023-00267-7","url":null,"abstract":"This paper describes the effect of applying spiral model to the development process of robot system for a new entrant company. The robot system was developed to remotely control a conventional hydraulic excavator in order to improve the safety of operators in disaster emergency restoration. The issues of development are the definition of requirements and integration for a practical system in a real environment by a new entrant company. The constraints to the new entry of smaller companies are the following three points. (1) Lack of industry knowledge and data to define requirements (2) Lack of on-site environment and machinery for investigation and testing (3) Lack of experience in robot development To solve the problems under these constraints, the spiral model divides the development based on the prototype into 4-steps, and repeats this series of processes. This method was applied to clarify the necessary functions and performance of the robot step by step, and to construct a system with robustness in a real environment. As a result, this robot system has been successfully utilized in emergency disaster recovery tasks due to landslides, and removing debris in the Fukushima Daiichi Nuclear Power Plant, reducing the mental and physical burden on the operators.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"79 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2023-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138715160","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-27DOI: 10.1186/s40648-023-00265-9
Tomohiro Watanabe, Kojiro Iizuka
In recent years, robots with leg mechanisms have received considerable attention as high-running planetary exploration rovers. Rovers undertaking planetary exploration require outstanding running performance to travel on loose ground on which they mostly slip and hardly move forward. The movement of the rover easily deforms the surface of loose ground. This problem can be solved by increasing the bearing capacity. The bearing capacity, the resistance force exerted on the rover legs when they make contact with the ground, needs to be sufficiently large to prevent legged rovers from slipping on loose ground. The bearing capacity can be increased by compaction of the ground by imparting vibrations. This study investigates the relationship between the bearing capacity in the horizontal direction and vibration parameters because this relationship offers valuable information for improving the running performance of legged rovers. First, we investigated the effect of changing the vibration parameters on the bearing capacity. Our experimental results show that the bearing capacity is related to vibration acceleration. These results suggest that the bearing capacity can be estimated from the vibration acceleration. Next, the frequency and amplitude were compared as vibration parameters to devise an efficient method for increasing the bearing capacity. The results of these experiments showed that high-amplitude vibrations increase the bearing capacity to a greater extent than high-frequency vibrations. The reason is that high-amplitude vibrations generate larger additional vibrations by the collision between the rod and the ground than high-frequency vibrations. This knowledge is valuable for selecting a suitable vibration that can efficiently increase the bearing capacity. This study suggests a method of facilitating further planetary exploration using legged rovers.
{"title":"Experimental investigation of relationship between bearing capacity and vibration parameters for planetary exploration legged rovers","authors":"Tomohiro Watanabe, Kojiro Iizuka","doi":"10.1186/s40648-023-00265-9","DOIUrl":"https://doi.org/10.1186/s40648-023-00265-9","url":null,"abstract":"In recent years, robots with leg mechanisms have received considerable attention as high-running planetary exploration rovers. Rovers undertaking planetary exploration require outstanding running performance to travel on loose ground on which they mostly slip and hardly move forward. The movement of the rover easily deforms the surface of loose ground. This problem can be solved by increasing the bearing capacity. The bearing capacity, the resistance force exerted on the rover legs when they make contact with the ground, needs to be sufficiently large to prevent legged rovers from slipping on loose ground. The bearing capacity can be increased by compaction of the ground by imparting vibrations. This study investigates the relationship between the bearing capacity in the horizontal direction and vibration parameters because this relationship offers valuable information for improving the running performance of legged rovers. First, we investigated the effect of changing the vibration parameters on the bearing capacity. Our experimental results show that the bearing capacity is related to vibration acceleration. These results suggest that the bearing capacity can be estimated from the vibration acceleration. Next, the frequency and amplitude were compared as vibration parameters to devise an efficient method for increasing the bearing capacity. The results of these experiments showed that high-amplitude vibrations increase the bearing capacity to a greater extent than high-frequency vibrations. The reason is that high-amplitude vibrations generate larger additional vibrations by the collision between the rod and the ground than high-frequency vibrations. This knowledge is valuable for selecting a suitable vibration that can efficiently increase the bearing capacity. This study suggests a method of facilitating further planetary exploration using legged rovers.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"36 2","pages":""},"PeriodicalIF":1.4,"publicationDate":"2023-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138512375","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-18DOI: 10.1186/s40648-023-00263-x
Ganegoda V. C. Rasanga, Kengo Hiraishi, Ryuichi Hodoshima, Shinya Kotosaka
WORMESH-II, which is the second prototype in the WORMESH series, is inspired by a flatten and soft-bodied fatworm, and its uniqueness is the use of multiple travelling waves for locomotion. In this paper, the sidewinding locomotions for WORMESH-II are talked about. This is because sidewinding is one of the most effective ways to traverse sandy terrain. The mathematical model of the sidewinding locomotion kinematics of WORMESH-II explains how synchronous multiple sidewinding waves can be used to control the movement of the robot effectively. Unlike WORMESH’s pedal-wave locomotion, sidewinding gaits allow the robot to be manoeuvred in any direction without changing the joint sequence. Relative to the wave propagation direction, velocity in the longitudinal direction is dependent on the vertical component of sidewinding travelling waves. Moreover, velocity in the transverse direction depends on the horizontal component of sidewinding travelling waves. The velocity in the longitudinal direction becomes zero when the phase shift of the travelling waves equals $$pi $$ rad. The angular velocity around the instantaneous centre of rotation depends on the wave amplitude of the horizontal component of the sidewinding travelling wave along the kinematic chains, and the turning radius is proportional to the amplitude gradient along the kinematic chains. The dynamic simulation of WORMESH-II and testing with the WORMESH-II prototype confirmed the proposed method, which was based on the metamathematical explanation of locomotion.
WORMESH-II, which is the second prototype in the WORMESH series, is inspired by a flatten and soft-bodied fatworm, and its uniqueness is the use of multiple travelling waves for locomotion. In this paper, the sidewinding locomotions for WORMESH-II are talked about. This is because sidewinding is one of the most effective ways to traverse sandy terrain. The mathematical model of the sidewinding locomotion kinematics of WORMESH-II explains how synchronous multiple sidewinding waves can be used to control the movement of the robot effectively. Unlike WORMESH’s pedal-wave locomotion, sidewinding gaits allow the robot to be manoeuvred in any direction without changing the joint sequence. Relative to the wave propagation direction, velocity in the longitudinal direction is dependent on the vertical component of sidewinding travelling waves. Moreover, velocity in the transverse direction depends on the horizontal component of sidewinding travelling waves. The velocity in the longitudinal direction becomes zero when the phase shift of the travelling waves equals $$pi $$ rad. The angular velocity around the instantaneous centre of rotation depends on the wave amplitude of the horizontal component of the sidewinding travelling wave along the kinematic chains, and the turning radius is proportional to the amplitude gradient along the kinematic chains. The dynamic simulation of WORMESH-II and testing with the WORMESH-II prototype confirmed the proposed method, which was based on the metamathematical explanation of locomotion.
{"title":"Sidewinding locomotion of flatworm-like mesh robot WORMESH-II","authors":"Ganegoda V. C. Rasanga, Kengo Hiraishi, Ryuichi Hodoshima, Shinya Kotosaka","doi":"10.1186/s40648-023-00263-x","DOIUrl":"https://doi.org/10.1186/s40648-023-00263-x","url":null,"abstract":"WORMESH-II, which is the second prototype in the WORMESH series, is inspired by a flatten and soft-bodied fatworm, and its uniqueness is the use of multiple travelling waves for locomotion. In this paper, the sidewinding locomotions for WORMESH-II are talked about. This is because sidewinding is one of the most effective ways to traverse sandy terrain. The mathematical model of the sidewinding locomotion kinematics of WORMESH-II explains how synchronous multiple sidewinding waves can be used to control the movement of the robot effectively. Unlike WORMESH’s pedal-wave locomotion, sidewinding gaits allow the robot to be manoeuvred in any direction without changing the joint sequence. Relative to the wave propagation direction, velocity in the longitudinal direction is dependent on the vertical component of sidewinding travelling waves. Moreover, velocity in the transverse direction depends on the horizontal component of sidewinding travelling waves. The velocity in the longitudinal direction becomes zero when the phase shift of the travelling waves equals $$pi $$ rad. The angular velocity around the instantaneous centre of rotation depends on the wave amplitude of the horizontal component of the sidewinding travelling wave along the kinematic chains, and the turning radius is proportional to the amplitude gradient along the kinematic chains. The dynamic simulation of WORMESH-II and testing with the WORMESH-II prototype confirmed the proposed method, which was based on the metamathematical explanation of locomotion.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"38 2","pages":""},"PeriodicalIF":1.4,"publicationDate":"2023-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138512367","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract Switching backdrivability according to use status is important to attain energy-saving and compliance in co-worker robots. Authors have proposed switching backdrivability by exciting gear surface, eliminating the need for sensors while switching. We have confirmed that exciting 2K-H planetary gear can switch its backdrivability. To systematically design the switching backdrivable 2K-H planetary gear, this study reveals less back-drive condition and the required torque for a vibrator. In the less-backdrivable condition, the tooth number difference between the fixed and output gears is dominant. Furthermore, the required torque for the vibrator increases as the load of the output shaft and the vibration frequency increase. The experimental results of the less-backdrivable condition and the required torque for the vibrator are almost entirely consistent with simulation result of the mechanical model
{"title":"Switching backdrivability of a planetary gear by vibration: design parameter setting and excited force estimation","authors":"Satsuya Noda, Ryo Igari, Kensuke Endo, Kazushi Yamanobe, Toshio Takayama","doi":"10.1186/s40648-023-00264-w","DOIUrl":"https://doi.org/10.1186/s40648-023-00264-w","url":null,"abstract":"Abstract Switching backdrivability according to use status is important to attain energy-saving and compliance in co-worker robots. Authors have proposed switching backdrivability by exciting gear surface, eliminating the need for sensors while switching. We have confirmed that exciting 2K-H planetary gear can switch its backdrivability. To systematically design the switching backdrivable 2K-H planetary gear, this study reveals less back-drive condition and the required torque for a vibrator. In the less-backdrivable condition, the tooth number difference between the fixed and output gears is dominant. Furthermore, the required torque for the vibrator increases as the load of the output shaft and the vibration frequency increase. The experimental results of the less-backdrivable condition and the required torque for the vibrator are almost entirely consistent with simulation result of the mechanical model","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"7 23","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135142125","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-27DOI: 10.1186/s40648-023-00261-z
Akihiro Yorita, Simon Egerton, Carina Chan, Naoyuki Kubota
Abstract We have developed a stress management framework aimed at helping healthcare professionals manage occupational stress. A chatbot is used to gather pertinent information from a user through regular conversation which is processed via a fuzzy inference model to derive their level of occupational Comprehensibility, Manageability, Meaningful and overall occupational Sense of Coherence (SOC). This analysis feeds into a Peer Support model which selects the best intervention aimed at enhancing a user’s stress-coping abilities and reducing their levels of occupational stress. A trial has been conducted with working adults, and the results were examined using a questionnaire supported by Technology Acceptance Model, which showed that the chatbot could recognize the user's SOC, but left a challenge: few users wanted to continue using it in their daily lives.
{"title":"Chatbots and robots: a framework for the self-management of occupational stress","authors":"Akihiro Yorita, Simon Egerton, Carina Chan, Naoyuki Kubota","doi":"10.1186/s40648-023-00261-z","DOIUrl":"https://doi.org/10.1186/s40648-023-00261-z","url":null,"abstract":"Abstract We have developed a stress management framework aimed at helping healthcare professionals manage occupational stress. A chatbot is used to gather pertinent information from a user through regular conversation which is processed via a fuzzy inference model to derive their level of occupational Comprehensibility, Manageability, Meaningful and overall occupational Sense of Coherence (SOC). This analysis feeds into a Peer Support model which selects the best intervention aimed at enhancing a user’s stress-coping abilities and reducing their levels of occupational stress. A trial has been conducted with working adults, and the results were examined using a questionnaire supported by Technology Acceptance Model, which showed that the chatbot could recognize the user's SOC, but left a challenge: few users wanted to continue using it in their daily lives.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"19 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136262319","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract Because exoskeletal assistive devices are worn directly by a person, enhancing cooperation is important. However, existing assistive devices have problems in terms of their cooperation with human behaviors. This is because existing assistive devices are driven by estimating the wearer’s movement intention based on predetermined movement time and device angle information. Although these methods are expected to work as expected, in practice, it is difficult to achieve the expected behavior. Therefore, an assistance method is required to reduce such misalignment with time and misalignment between the device and wearer. Therefore, this study focused on the viscoelastic properties that generate force in response to movement and are expected to enhance coordination. In a previous study, the authors confirmed the effects of viscoelastic properties or an assistive device with variable stiffness. However, viscous characteristics during movement have not been considered. In this study, we aimed to improve the coordination by focusing on the viscous characteristics. The viscous torque outputs in response to the angular velocity are expected to be driven in response to actual human motion. In this study, the viscous torque was calculated as the product of the command viscosity coefficient and the joint angular velocity and was applied to a lower-limb exoskeleton-type assist device equipped with a magneto-viscous fluid brake and a planetary gear mechanism. In addition, a viscous command that changes the torque according to speed (proposed method), a time command that changes the output value according to the passage of time, and an angle command that changes the command value according to the angle information of the device were applied to the assist device, and surface EMG measurements and command signals were compared. The target movement was a seated movement, and the left and right vastus medialis and semimembranosus muscles were measured. More than half of the subjects showed a decrease in myopotential for five subjects for all three command methods, confirming the effectiveness of the viscous command.
{"title":"Validation of a lower limb exoskeleton assist device focusing on viscous properties: verification of assist effectiveness by measuring muscle activity","authors":"Yusuke Shimoda, Tomotaka Sugino, Manabu Okui, Rie Nishihama, Taro Nakamura","doi":"10.1186/s40648-023-00262-y","DOIUrl":"https://doi.org/10.1186/s40648-023-00262-y","url":null,"abstract":"Abstract Because exoskeletal assistive devices are worn directly by a person, enhancing cooperation is important. However, existing assistive devices have problems in terms of their cooperation with human behaviors. This is because existing assistive devices are driven by estimating the wearer’s movement intention based on predetermined movement time and device angle information. Although these methods are expected to work as expected, in practice, it is difficult to achieve the expected behavior. Therefore, an assistance method is required to reduce such misalignment with time and misalignment between the device and wearer. Therefore, this study focused on the viscoelastic properties that generate force in response to movement and are expected to enhance coordination. In a previous study, the authors confirmed the effects of viscoelastic properties or an assistive device with variable stiffness. However, viscous characteristics during movement have not been considered. In this study, we aimed to improve the coordination by focusing on the viscous characteristics. The viscous torque outputs in response to the angular velocity are expected to be driven in response to actual human motion. In this study, the viscous torque was calculated as the product of the command viscosity coefficient and the joint angular velocity and was applied to a lower-limb exoskeleton-type assist device equipped with a magneto-viscous fluid brake and a planetary gear mechanism. In addition, a viscous command that changes the torque according to speed (proposed method), a time command that changes the output value according to the passage of time, and an angle command that changes the command value according to the angle information of the device were applied to the assist device, and surface EMG measurements and command signals were compared. The target movement was a seated movement, and the left and right vastus medialis and semimembranosus muscles were measured. More than half of the subjects showed a decrease in myopotential for five subjects for all three command methods, confirming the effectiveness of the viscous command.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135857358","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract In the field of autonomous mobile robotics, reliable localization is important. However, there are real environments where localization fails. In this paper, we propose a method to estimate localizability based on occupancy grid maps. The localizability indicates the reliability of localization. There are several approaches to estimate localizability, we propose a method to estimate localizability as a covariance matrix of the Gaussian distribution using local map correlation. Our method can estimate the magnitude of the localization error and the characteristics of the error. To confirm the effectiveness of the proposed method, we constructed simulation environments that include representative shapes of indoor environments. We conducted an experiment to investigate the characteristics of the distribution of local map correlation. Furthermore, we also conducted an experiment of our method to estimate localizability on occupancy grid maps. The simulation experiment results showed that the proposed method could estimate the magnitude of the localization error and the characteristics of the error on occupancy grid maps. The proposed method was confirmed to be effective in estimating localizability.
{"title":"Localizability estimation using correlation on occupancy grid maps","authors":"Maiku Kondo, Masahiko Hoshi, Yoshitaka Hara, Sousuke Nakamura","doi":"10.1186/s40648-023-00256-w","DOIUrl":"https://doi.org/10.1186/s40648-023-00256-w","url":null,"abstract":"Abstract In the field of autonomous mobile robotics, reliable localization is important. However, there are real environments where localization fails. In this paper, we propose a method to estimate localizability based on occupancy grid maps. The localizability indicates the reliability of localization. There are several approaches to estimate localizability, we propose a method to estimate localizability as a covariance matrix of the Gaussian distribution using local map correlation. Our method can estimate the magnitude of the localization error and the characteristics of the error. To confirm the effectiveness of the proposed method, we constructed simulation environments that include representative shapes of indoor environments. We conducted an experiment to investigate the characteristics of the distribution of local map correlation. Furthermore, we also conducted an experiment of our method to estimate localizability on occupancy grid maps. The simulation experiment results showed that the proposed method could estimate the magnitude of the localization error and the characteristics of the error on occupancy grid maps. The proposed method was confirmed to be effective in estimating localizability.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134912014","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-08-27DOI: 10.1186/s40648-023-00254-y
Kento Yoshida, K. Nagaoka
{"title":"A mobile robot driven by uniaxial wave locomotion mechanism","authors":"Kento Yoshida, K. Nagaoka","doi":"10.1186/s40648-023-00254-y","DOIUrl":"https://doi.org/10.1186/s40648-023-00254-y","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"10 1","pages":"1-9"},"PeriodicalIF":1.4,"publicationDate":"2023-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41363997","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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