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 |
Copyright and reproduction |
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) |
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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 |
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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 |
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Self-Localization |
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Three-Dimensional Gyro-Odometry |
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Contact Point |
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Bicycle-Type Mobile Robot |
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1st Author's Name |
Tomoyasu Ichimura |
1st Author's Affiliation |
Oyama National College of Technology (Oyama NCT) |
2nd Author's Name |
Eiki Koguchi |
2nd Author's Affiliation |
NTT FACILITIES CHUO, INC. (NTT FACILITIES CHUO) |
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Speaker |
Author-1 |
Date Time |
2013-01-29 13:30:00 |
Presentation Time |
25 minutes |
Registration for |
CAS |
Paper # |
CAS2012-84 |
Volume (vol) |
vol.112 |
Number (no) |
no.418 |
Page |
pp.109-112 |
#Pages |
4 |
Date of Issue |
2013-01-21 (CAS) |
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