This paper focuses on soft actuators that utilize fluid power to drive soft robots and describes their features and applications. First, it discusses how soft actuators function as elemental technology in robots. This is followed by an introduction to the driving principle and features of fluid-driven soft actuators. It also classifies these soft actuators based on the fluid power source and the active mode of operation. Furthermore, an overview is provided on the materials employed in soft actuators and the control and evaluation methods for them. Finally, currently reported applications of these soft actuators, such as wearable devices, grippers, and bio-inspired robots, are presented.
{"title":"Fluid-Driven Soft Actuators for Soft Robots","authors":"Taro Nakamura","doi":"10.20965/jrm.2024.p0251","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0251","url":null,"abstract":"This paper focuses on soft actuators that utilize fluid power to drive soft robots and describes their features and applications. First, it discusses how soft actuators function as elemental technology in robots. This is followed by an introduction to the driving principle and features of fluid-driven soft actuators. It also classifies these soft actuators based on the fluid power source and the active mode of operation. Furthermore, an overview is provided on the materials employed in soft actuators and the control and evaluation methods for them. Finally, currently reported applications of these soft actuators, such as wearable devices, grippers, and bio-inspired robots, are presented.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140682114","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}
Utilizing building information modeling (BIM) for the analysis of existing pipelines necessitates the development of a swift and precise recognition method. Deep learning-based object recognition through imagery has emerged as a potent solution for tackling various recognition tasks. However, the direct application of these models is unfeasible due to their substantial computational requirements. In this research, we introduce a lightweight encoder explicitly for pipe recognition. By optimizing the network architecture using attention mechanisms, it ensures high-precision recognition while maintaining computational efficiency. The experimental results showcased in this study underscore the efficacy of the proposed lightweight encoder and its associated networks.
{"title":"Lightweight Encoder with Attention Mechanism for Pipe Recognition Network","authors":"Yang Tian, Xinyu Li, Shugen Ma","doi":"10.20965/jrm.2024.p0343","DOIUrl":"https://doi.org/10.20965/jrm.2024.p0343","url":null,"abstract":"Utilizing building information modeling (BIM) for the analysis of existing pipelines necessitates the development of a swift and precise recognition method. Deep learning-based object recognition through imagery has emerged as a potent solution for tackling various recognition tasks. However, the direct application of these models is unfeasible due to their substantial computational requirements. In this research, we introduce a lightweight encoder explicitly for pipe recognition. By optimizing the network architecture using attention mechanisms, it ensures high-precision recognition while maintaining computational efficiency. The experimental results showcased in this study underscore the efficacy of the proposed lightweight encoder and its associated networks.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140679520","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}
In recent years, underwater robotics has become very important because it can be applied to various fields such as underwater exploration, underwater inspection, marine industry, and environmental monitoring. Fin plays an essential role in the movement of underwater robots, providing operation, control, and efficient propulsion. This research aims to design and develop a unique robotic fin for underwater robots to improve their handling and propulsion efficiency. The goal is to improve the power density and propulsion efficiency of underwater survey robots. The study is based on a comprehensive analysis of experience and a performance evaluation. Five types of tail fin models were used in the study. The experimental results showed that the performance of the fin design can be compared with existing configurations under different conditions. The best design parameters will be determined by analyzing the experimental results. The results of this study will contribute to underwater robotics by providing a concept of the principles of fin design and its impact on the performance of robotics.
{"title":"Experimental Development of Fins for Underwater Robots","authors":"Bagus Yunanto, N. Takesue","doi":"10.20965/jrm.2023.p1638","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1638","url":null,"abstract":"In recent years, underwater robotics has become very important because it can be applied to various fields such as underwater exploration, underwater inspection, marine industry, and environmental monitoring. Fin plays an essential role in the movement of underwater robots, providing operation, control, and efficient propulsion. This research aims to design and develop a unique robotic fin for underwater robots to improve their handling and propulsion efficiency. The goal is to improve the power density and propulsion efficiency of underwater survey robots. The study is based on a comprehensive analysis of experience and a performance evaluation. Five types of tail fin models were used in the study. The experimental results showed that the performance of the fin design can be compared with existing configurations under different conditions. The best design parameters will be determined by analyzing the experimental results. The results of this study will contribute to underwater robotics by providing a concept of the principles of fin design and its impact on the performance of robotics.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138955115","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}
This study achieved four door operations, namely push-opening, push-closing, pull-opening, and pull-closing movements, using a mobile manipulator consisting of a commercially available arm robot and a mobile robot. We assumed that the arm robot is controlled by position commands at intervals of a few milliseconds, and that the mobile robot is guided by a simple straightforward linear trajectory. Ott, Borst, Bäuml, and Hirzinger proposed a push-opening method using impedance control in a cylindrical coordinate system for the arm robot. With this control, when the mobile robot advances toward and through the door, the arm robot moves passively and properly pushes the door open. However, their method is unsuitable for the above type of robot. Thus, we propose a method with two modifications: the use of admittance control and the improvement of force relaxation by considering a force obtained through a novel force decomposition. Furthermore, the proposed method was demonstrated not only in the push-opening movement but also in the push-closing, pull-opening, and pull-closing movements.
{"title":"Door Opening and Closing Considering Forces Using a Mobile Manipulator with an Admittance Controlled Arm","authors":"Yasuhiko Fukumoto, Morio Jinnai, Shinnosuke Bando, Makoto Takenaka, Hiroaki Kobayashi","doi":"10.20965/jrm.2023.p1573","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1573","url":null,"abstract":"This study achieved four door operations, namely push-opening, push-closing, pull-opening, and pull-closing movements, using a mobile manipulator consisting of a commercially available arm robot and a mobile robot. We assumed that the arm robot is controlled by position commands at intervals of a few milliseconds, and that the mobile robot is guided by a simple straightforward linear trajectory. Ott, Borst, Bäuml, and Hirzinger proposed a push-opening method using impedance control in a cylindrical coordinate system for the arm robot. With this control, when the mobile robot advances toward and through the door, the arm robot moves passively and properly pushes the door open. However, their method is unsuitable for the above type of robot. Thus, we propose a method with two modifications: the use of admittance control and the improvement of force relaxation by considering a force obtained through a novel force decomposition. Furthermore, the proposed method was demonstrated not only in the push-opening movement but also in the push-closing, pull-opening, and pull-closing movements.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138955528","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}
Rei Ezaka, Takehito Yoshida, Yudai Yamada, Shin’ichi Warisawa, Rui Fukui
The ceiling serves as an ideal location for robots to handle transportation tasks, as it ensures minimal interference between automated guided vehicles (AGV) and human activities. A previous study developed a ceiling mobile robot called HanGrawler 2. It can travel at a high speed of 1.0 m/s to compete with ground vehicles. However, it occasionally fails during high-speed travel. This study aims to improve the reliability of starting, accelerating, and traveling at high speed. Optical motion capture is used to observe the crawler behavior of HanGrawler 2. The observation of the crawler behavior revealed that the crawler moves on an inflated trajectory during the high-speed movement. In addition, the experimental results show that the collision is not caused by the inflation, but by the push-in timing. The reliability of high-speed travel was improved by installing an encoder and optimizing the push-in timing in accordance with speed fluctuations.
{"title":"Reliability Improvement of a Crawler-Type Ceiling Mobile Robot in Starting, Accelerating, and Traveling Phase at High Speed","authors":"Rei Ezaka, Takehito Yoshida, Yudai Yamada, Shin’ichi Warisawa, Rui Fukui","doi":"10.20965/jrm.2023.p1551","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1551","url":null,"abstract":"The ceiling serves as an ideal location for robots to handle transportation tasks, as it ensures minimal interference between automated guided vehicles (AGV) and human activities. A previous study developed a ceiling mobile robot called HanGrawler 2. It can travel at a high speed of 1.0 m/s to compete with ground vehicles. However, it occasionally fails during high-speed travel. This study aims to improve the reliability of starting, accelerating, and traveling at high speed. Optical motion capture is used to observe the crawler behavior of HanGrawler 2. The observation of the crawler behavior revealed that the crawler moves on an inflated trajectory during the high-speed movement. In addition, the experimental results show that the collision is not caused by the inflation, but by the push-in timing. The reliability of high-speed travel was improved by installing an encoder and optimizing the push-in timing in accordance with speed fluctuations.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138957169","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}
This study focuses on visual navigation methods for autonomous mobile robots based on semantic segmentation results. The challenge is to perform the expected actions without being affected by the presence of pedestrians. Therefore, we implemented a semantics-based localization method that is not affected by dynamic obstacles and a direction change method at intersections that functions even with coarse-grain localization results. The proposed method was evaluated through driving experiments in the Tsukuba Challenge 2022, where a 290 m run including 10 intersections was achieved in the confirmation run section.
{"title":"Practical Implementation of Visual Navigation Based on Semantic Segmentation for Human-Centric Environments","authors":"Miho Adachi, Kazufumi Honda, Junfeng Xue, Hiroaki Sudo, Yuriko Ueda, Yuki Yuda, Marin Wada, Ryusuke Miyamoto","doi":"10.20965/jrm.2023.p1419","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1419","url":null,"abstract":"This study focuses on visual navigation methods for autonomous mobile robots based on semantic segmentation results. The challenge is to perform the expected actions without being affected by the presence of pedestrians. Therefore, we implemented a semantics-based localization method that is not affected by dynamic obstacles and a direction change method at intersections that functions even with coarse-grain localization results. The proposed method was evaluated through driving experiments in the Tsukuba Challenge 2022, where a 290 m run including 10 intersections was achieved in the confirmation run section.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138994303","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}
Hisaki Sato, Hiroshi Kobayashi, Kenta Matsumoto, T. Hashimoto, Y. Michiwaki
The number of patients with swallowing disorders is increasing according to the aging of society, although swallowing plays a significant role in the dietary process. The process of swallowing includes a very fast reflexive motion; there are difficulties in analyzing its mechanism even with the latest medical imaging technologies. In recent years, a simulator, named “Swallow Vision®,” has been developed from medical images such as MRI and CT to clearly visualize swallowing motion. It enables us to understand the kinesiology and analyze the motion of organs in swallowing. By using kinematic data obtained from this simulator and referring to medical knowledge, we develop a robotic simulator that has the potential to mimic human swallowing motion. The robot is able to perform tongue depressor and pharynx contraction to swallow food bolus. A performance evaluation is conducted to determine whether it is possible to swallow food bolus properly or where the bolus remains when failing.
{"title":"Development of Human-Size Swallowing Robot","authors":"Hisaki Sato, Hiroshi Kobayashi, Kenta Matsumoto, T. Hashimoto, Y. Michiwaki","doi":"10.20965/jrm.2023.p1663","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1663","url":null,"abstract":"The number of patients with swallowing disorders is increasing according to the aging of society, although swallowing plays a significant role in the dietary process. The process of swallowing includes a very fast reflexive motion; there are difficulties in analyzing its mechanism even with the latest medical imaging technologies. In recent years, a simulator, named “Swallow Vision®,” has been developed from medical images such as MRI and CT to clearly visualize swallowing motion. It enables us to understand the kinesiology and analyze the motion of organs in swallowing. By using kinematic data obtained from this simulator and referring to medical knowledge, we develop a robotic simulator that has the potential to mimic human swallowing motion. The robot is able to perform tongue depressor and pharynx contraction to swallow food bolus. A performance evaluation is conducted to determine whether it is possible to swallow food bolus properly or where the bolus remains when failing.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138955424","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}
R. Ueda, Leon Tonouchi, Tatsuhiro Ikebe, Yasuo Hayashibara
We applied a brute-force value iteration algorithm to mobile robot navigation. Value iteration is computationally more expensive than search methods used for navigation. However, it can perfectly calculate the expected cost-to-go from any point in a state space. From this cost data, a robot can know not only the optimal behavior at any position and orientation but also the appropriate detour path against suddenly appearing obstacles. This study implemented value iteration and investigated its properties through experiments with simulated and actual robots. Although its computational cost remained high, our implementation could operate a robot in an actual outdoor environment with 3,700 m2 free space. We also verified that our implementation calculates long detour paths toward closures composed of obstacles.
{"title":"Implementation of Brute-Force Value Iteration for Mobile Robot Path Planning and Obstacle Bypassing","authors":"R. Ueda, Leon Tonouchi, Tatsuhiro Ikebe, Yasuo Hayashibara","doi":"10.20965/jrm.2023.p1489","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1489","url":null,"abstract":"We applied a brute-force value iteration algorithm to mobile robot navigation. Value iteration is computationally more expensive than search methods used for navigation. However, it can perfectly calculate the expected cost-to-go from any point in a state space. From this cost data, a robot can know not only the optimal behavior at any position and orientation but also the appropriate detour path against suddenly appearing obstacles. This study implemented value iteration and investigated its properties through experiments with simulated and actual robots. Although its computational cost remained high, our implementation could operate a robot in an actual outdoor environment with 3,700 m2 free space. We also verified that our implementation calculates long detour paths toward closures composed of obstacles.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139170595","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}
Shunya Hara, T. Shimizu, Masayoshi Ozawa, Masahiko Sakai, T. Oyama, Amar Julien Samuel
Recently, the legislation regarding autonomous mobile robots for outdoor pedestrian areas have been advancing, leading to increased expectations for task automation such as transportation and cleaning. Outdoor environments like parks, where vehicles cannot enter, present many three-dimensional terrains such as stairs and inclined surfaces, causing difficulty in achieving accurate environment recognition and autonomous movement. Furthermore, robots that navigate pedestrian walkways must be smaller and lighter than cars and also have a robust system capable of traversing steps and uneven surfaces and withstanding rainy weather. Currently, robots designed for paved roads are commercially available; however, robots capable of navigating park walkways are still in the research and development stage. Therefore, to accelerate the research and development of outdoor autonomous mobile robots, this study proposes the Navit(oo)n platform, designed for use in outdoor environments. This robot can be manufactured using easily obtainable parts, and all CAD data, circuit design data, and autonomous movement software are provided as open source. This paper introduces an overview of Navit(oo)n that successfully completed the course and achieved all tasks in the recent Nakanoshima Robot Challenge.
{"title":"Navit(oo)n: Open Source Mobile Robot Project for Nakanoshima Robot Challenge","authors":"Shunya Hara, T. Shimizu, Masayoshi Ozawa, Masahiko Sakai, T. Oyama, Amar Julien Samuel","doi":"10.20965/jrm.2023.p1540","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1540","url":null,"abstract":"Recently, the legislation regarding autonomous mobile robots for outdoor pedestrian areas have been advancing, leading to increased expectations for task automation such as transportation and cleaning. Outdoor environments like parks, where vehicles cannot enter, present many three-dimensional terrains such as stairs and inclined surfaces, causing difficulty in achieving accurate environment recognition and autonomous movement. Furthermore, robots that navigate pedestrian walkways must be smaller and lighter than cars and also have a robust system capable of traversing steps and uneven surfaces and withstanding rainy weather. Currently, robots designed for paved roads are commercially available; however, robots capable of navigating park walkways are still in the research and development stage. Therefore, to accelerate the research and development of outdoor autonomous mobile robots, this study proposes the Navit(oo)n platform, designed for use in outdoor environments. This robot can be manufactured using easily obtainable parts, and all CAD data, circuit design data, and autonomous movement software are provided as open source. This paper introduces an overview of Navit(oo)n that successfully completed the course and achieved all tasks in the recent Nakanoshima Robot Challenge.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139170606","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}
In recent years, high-precision 3D environmental maps have attracted the attention of researchers in various fields and have been put to practical use. For the autonomous movement of mobile robots, it is common to create an environmental map in advance and use it for localization. In this study, to investigate the usefulness of 3D environmental maps, we scanned physical environments using two different simultaneous localization and mapping (SLAM) approaches, specifically a wearable 3D scanner and a 3D LiDAR mounted on a robot. We used the scan data to create 3D environmental maps consisting of 3D point clouds. Wearable 3D scanners can be used to generate high-density and high-precision 3D point-cloud maps. The application of high-precision maps to the field of autonomous navigation is expected to improve the accuracy of self-localization. Navigation experiments were conducted using a robot, which was equipped with the maps obtained from the two approaches described. Autonomous navigation was achieved in this manner, and the performance of the robot using each type of map was assessed by requiring it to halt at specific landmarks set along the route. The high-density colored environmental map generated from the wearable 3D scanner’s data enabled the robot to perform autonomous navigation easily with a high degree of accuracy, showing potential for usage in digital twin applications.
近年来，高精度三维环境地图引起了各领域研究人员的关注，并已投入实际应用。在移动机器人的自主运动中，通常会提前绘制环境地图并用于定位。在本研究中，为了研究三维环境地图的实用性，我们使用了两种不同的同步定位和绘图（SLAM）方法来扫描物理环境，特别是可穿戴式三维扫描仪和安装在机器人上的三维激光雷达。我们利用扫描数据创建了由三维点云组成的三维环境地图。可穿戴式三维扫描仪可用于生成高密度、高精度的三维点云地图。将高精度地图应用于自主导航领域有望提高自我定位的准确性。我们使用一个机器人进行了导航实验，该机器人配备了通过上述两种方法获得的地图。通过这种方式实现了自主导航，并通过要求机器人在沿途设置的特定地标处停止来评估机器人使用每种类型地图的性能。根据可穿戴 3D 扫描仪的数据生成的高密度彩色环境地图使机器人能够轻松地进行自主导航，而且准确度很高，显示了在数字孪生应用中的使用潜力。
{"title":"Trial of Utilization of an Environmental Map Generated by a High-Precision 3D Scanner for a Mobile Robot","authors":"Rikuto Sekine, Tetsuo Tomizawa, Susumu Tarao","doi":"10.20965/jrm.2023.p1469","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1469","url":null,"abstract":"In recent years, high-precision 3D environmental maps have attracted the attention of researchers in various fields and have been put to practical use. For the autonomous movement of mobile robots, it is common to create an environmental map in advance and use it for localization. In this study, to investigate the usefulness of 3D environmental maps, we scanned physical environments using two different simultaneous localization and mapping (SLAM) approaches, specifically a wearable 3D scanner and a 3D LiDAR mounted on a robot. We used the scan data to create 3D environmental maps consisting of 3D point clouds. Wearable 3D scanners can be used to generate high-density and high-precision 3D point-cloud maps. The application of high-precision maps to the field of autonomous navigation is expected to improve the accuracy of self-localization. Navigation experiments were conducted using a robot, which was equipped with the maps obtained from the two approaches described. Autonomous navigation was achieved in this manner, and the performance of the robot using each type of map was assessed by requiring it to halt at specific landmarks set along the route. The high-density colored environmental map generated from the wearable 3D scanner’s data enabled the robot to perform autonomous navigation easily with a high degree of accuracy, showing potential for usage in digital twin applications.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":1.1,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138955933","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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