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Paper Abstract and Keywords
Presentation 2013-01-29 13:30
Development of a Bicycle-Type Mobile Robot with Contact Point Detectors
Tomoyasu Ichimura (Oyama NCT), Eiki Koguchi (NTT FACILITIES CHUO) CAS2012-84
Abstract (in Japanese) (See Japanese page) 
(in English) Three-dimensional gyro-odometry is developed to estimate a location of a mobile robot on uneven terrain recently. The method hypothesizes that a translational direction of an instantaneous robot's motion is fixed to its orientation which is measured with gyroscopes. However, the precise direction is not fixed to the robot's orientation because its motion is always influenced by the geometry of terrain. Therefore, we propose three-dimensional gyro-odometry using contact point information between wheels and terrain. In this paper, we show a bicycle-type mobile robot with contact point detectors to verify the proposed method.
Keyword (in Japanese) (See Japanese page) 
(in English) Self-Localization / Three-Dimensional Gyro-Odometry / Contact Point / Bicycle-Type Mobile Robot / / / /  
Reference Info. IEICE Tech. Rep., vol. 112, no. 418, CAS2012-84, pp. 109-112, Jan. 2013.
Paper # CAS2012-84 
Date of Issue 2013-01-21 (CAS) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF CAS2012-84

Conference Information
Committee CAS  
Conference Date 2013-01-28 - 2013-01-29 
Place (in Japanese) (See Japanese page) 
Place (in English) Beppu International Convention Center 
Topics (in Japanese) (See Japanese page) 
Topics (in English) General 
Paper Information
Registration To CAS 
Conference Code 2013-01-CAS 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Development of a Bicycle-Type Mobile Robot with Contact Point Detectors 
Sub Title (in English)  
Keyword(1) Self-Localization  
Keyword(2) Three-Dimensional Gyro-Odometry  
Keyword(3) Contact Point  
Keyword(4) Bicycle-Type Mobile Robot  
1st Author's Name Tomoyasu Ichimura  
1st Author's Affiliation Oyama National College of Technology (Oyama NCT)
2nd Author's Name Eiki Koguchi  
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Date Time 2013-01-29 13:30:00 
Presentation Time 25 
Registration for CAS 
Paper # IEICE-CAS2012-84 
Volume (vol) IEICE-112 
Number (no) no.418 
Page pp.109-112 
#Pages IEICE-4 
Date of Issue IEICE-CAS-2013-01-21 

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