脚なしカプセルロボットの設計・製作と3自由度制御
Design, fabrication and 3-DOF control of legless capsule robot
密閉外殻・内部ボディ・回転アクチュエータからなる脚なしカプセルロボットを設計し、4段階角速度プロファイルとIMU・ジャイロ・磁気センサ融合による状態推定、状態フィードバック制御で2次元粘性環境中の移動を実現した。
著者: Milad Behvandi, Seyed Jalil Havakhah, Mohsen Laleh Parvar, Massih Haseli, Amirabolfazl Suratgar
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
In this paper, a legless capsule robot (capsubot) comprised of a sealed external body, an internal body, and a rotational actuator is proposed. The aim of this robot is to move in a two-dimensional viscous environment. After the robot is designed and modeled, a four-stage angular velocity profile is proposed to move the robot in one direction. In addition, a camera is used to obtain the position of the robot in the environment while the orientation and the velocity of the robot is estimated with Kalman filter by fusing the IMU, gyro, and the magnetometer sensors. Furthermore, to control the robot a state feedback control is implemented. Finally, experimental results are provided to demonstrate the performance of the robots and the proposed algorithms.