Advertisement

Teleoperated Locomotion Control of Hexapod Robot

  • Kenzo Nonami
  • Ranjit Kumar Barai
  • Addie Irawan
  • Mohd Razali Daud
Chapter
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 66)

Abstract

Recently the development of the robotics technology is remarkable. Currently most of the large-scale robot designed is focused on various tasks especially for the hazardous operation and disaster situation such as earthquake. Therefore, this chapter has taken a part and designed a hydraulically actuated hexapod robot, namely, as Chiba university operating mine detection electronics tools (COMET) for multitasks on outdoor situation with the unknown environment. For the extreme environment cases, it is difficult to make it fully autonomous. Therefore, teleoperation-based system has been designed on the COMET-IV for extreme environment. The teleoperation assistant system is designed to understand the ambient environment and the movement condition of the robot including the legged robot changes which effect the height of the body and robot’s attitude. In this chapter, this operator is applied with omnidirectional vision sensor and 3D robot animation. The online 3D virtual reality technique is proposed to make synchronous control between virtual 3D animation and COMET-IV physical on the real environment. The teleoperation assistant system is verified through the experiment of the obstacle avoidance walking on the outdoor environment. Also, this chapter will describe the proposed method of 3D geometric combination with the designed numerical model-distributed data. On the other hand, this method is applied with the body movement coordination method (BMC) which is designed based on the center of the body of the robot and shoulder of each leg point. The 3D model is designed for hydraulic-based drive hexapod walking robot which is critically to be experimented directly without any strong pre-study. Moreover the force-based controlled walking is the current research for this hydraulic-drive robot current version named as COMET-IV. Therefore, in this chapter, the discussion will be on the 3D geometric modeling with the force-based controlled numerical model that is designed with BMC technique. Simple walking experiment has been done to verify this simulator and the results are nearly same as simulated.

Keywords

Global Position System Virtual Environment World Coordinate System Omnidirectional Image Impedance Controller 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

  1. 1.
    Nonami K et al (2003) Development and control of mine detection robot COMET-II and COMET-III. JSME Int J Ser C 46(3):881–88.0CrossRefGoogle Scholar
  2. 2.
    Fukao Y, Nonami K (2003) Trajectory tracking control and impedance control of mine detection robot. Trans Jpn Soc Mech Eng Ser C 68(678):662–668CrossRefGoogle Scholar
  3. 3.
    Ikedo Y, Nonami K (2004) Preview sliding mode walking control for hexapod robot COMETIII. Trans Jpn Soc Mech Eng Ser C 70(700):3484–348.2CrossRefGoogle Scholar
  4. 4.
    Sugai H, Nonami K (2006) Reference model following sliding mode for hydraulic mine detection hexapod robot. Trans Jpn Soc Mech Eng Ser C 72(721):2828–2837Google Scholar
  5. 5.
    Oku M, Yang H, Paio G, Harada Y, Adachi K, Barai R, Sakai S, Nonami K (2007) Development of hydraulically actuated hexapod robot COMET-IV the 1st report: System design and configuration. In: Proceedings of the 2007 JSME conference on robotics and mechatronics, pp 2A2–G01Google Scholar
  6. 6.
    Parasuraman S, Ganapathy V, Shirinzadeh B(2005) Behavior based mobile robot navigation technique using AI system: experimental investigations. In: ICGST ARAS 05 conference, pp 31–37Google Scholar
  7. 7.
    Thrun S et al (2006) Stanley: the robot that won the DARPAN grand challenge. J Field Robot 23(8):661–682CrossRefGoogle Scholar
  8. 8.
    Matsumoto T, Konno A, Uchiyama M (2003) Teleoperation of the small size humanoid robot HOAP-2. In: The society of instrument and control engineers the 213th research meeting, pp 213–218Google Scholar
  9. 9.
    Tachi S, Komoriya K, Sawada K, Itoko T, Inoue K (2001) Telexistence control cockpit system for HRP. J Robot Soc Japan 18(1):16–27CrossRefGoogle Scholar
  10. 10.
    Saitoh K, Machida T, Kiyokawa K, Takemmura H (2005) A mobile robot control interface using omnidirectional images and 3D geometric models. Tech Rep IEICE Multimedia Virtual Environ 105(256):7–12Google Scholar
  11. 11.
    Miyanaka H, Wada N, Kamegawa T, Sato N, Tsukui S, Igarashi H, Matsuno F (2007) Development of an unit type robot KOHGA2 with stuck avoidance ability. In: IEEE international conference on robotics and automation, FrB12.2, pp 3877–3882Google Scholar
  12. 12.
    Hodoshima R, Doi T, Fukuda Y, Hirose S, Okamoto T, Mori J (2005) Development of a quadruped walking robot TITAN XI for steep slopes operation-conceptual design and basic experiment of leg driving mechanism. J Robot Soc Japan 23(7):81–81CrossRefGoogle Scholar
  13. 13.
    Hayakawa M, Hara K, Sato S et al (2008) Singularity avoidance by inputting angular velocity to a redundant axis during cooperative control of a teleoperated dual-arm robot, 2008. In: IEEE international conference on robotics and automation, pp 2013–2018Google Scholar
  14. 14.
    Kanehiro F, Hirukawa H, Kaneko K, Kajita S, Fujiwara K, Harada K, Yokoi K (2004) Locomotion planning of humanoid robots to pass through narrow spaces. In: Proceedings of 2004 IEEE international conference on robotics and automation, pp 604–608Google Scholar
  15. 15.
    Kanehiro F, Yoshimi T, Kajita S, Morisawa M, Kaneko K, Hirukawa H, Tomita F (2007) Whole body locomotion planning of humanoid robots based on a 3D grid map. J Robot Soc Japan 25(4):588.–58.7CrossRefGoogle Scholar
  16. 16.
    Inagaki S, Suzuki T (2006) Locomotive pattern generation for multi-legged robot with active segmented trunk – learning by GA in multiple friction environments. FAN symposium: intelligent system symposium-fuzzy, vol 16. AI, neural network applications technologies, pp 273–278Google Scholar
  17. 17.
    Ohroku H, Nonami K (2008) Omni-directional vision and 3D animation based teleoperation of hydraulically actuated hexapod robot COMET-IV. ICGSTARAS J 8(1)Google Scholar
  18. 18.
    Oku M, Nonami K (2008) Force control of hydraulically actuated hexapod robot. Master thesis, Chiba UniversityGoogle Scholar
  19. 19.
  20. 20.
    Hirose S, Kikuchi H, Umetani Y (1984) The standard circular gait of the quadruped walking vehicle. J Robot Soc Japan 2(6):41–52CrossRefGoogle Scholar
  21. 21.
    Sakakibara Y, Kan K, Hosoda Y, Hattori M, Fujie M (1990) Low impact foot trajectory for a quadruped walking machine. J Robot Soc Japan 8(6):22–31CrossRefGoogle Scholar
  22. 22.
    Yamazawa K, Yagi Y, Yachida M (1996) Visual navigation with omnidirectional image sensor hyper omni vision. The IEICE J 78(5):688–707Google Scholar
  23. 23.
    Futagami K, Harada Y, Sakai S, Nonami K (2008) Omni-directional gait of hydraulically actuated hexapod robot COMET-IV. In: The 26th annual conference of the robotics society of Japan, pp ROMBUNNO.1D3-04Google Scholar
  24. 24.
    The KISMET 3D-Simulation Software http://iregt1.iai.fzk.de/
  25. 25.
  26. 26.
    ThreeDimSim mechanics simulator http://www.havingasoftware.nl/index.htm
  27. 27.
    Geyer C, Daniilidis K (2001) Catadioptric projective geometry. Int J Comput Vis 45(3):223–243CrossRefMATHGoogle Scholar
  28. 28.
    Ogawa A, Kobayashi K, Nakamura O, Murai J (1998) Design and implementation of DV stream over internet. IEICE Tech Rep Comput Syst 88(37):77–81Google Scholar
  29. 29.
    Onoe Y, Yamazawa K, Takemura H, Yokoya N (1998) Telepresence by real-time view-dependent image generation from omnidirectional video stream. Comput Vis Image Und 71(2):154–165CrossRefGoogle Scholar

Copyright information

© Springer Japan 2014

Authors and Affiliations

  • Kenzo Nonami
    • 1
  • Ranjit Kumar Barai
    • 2
  • Addie Irawan
    • 3
  • Mohd Razali Daud
    • 3
  1. 1.Department of Mechanical Engineering Division of Artificial Systems Science Graduate School of EngineeringChiba UniversityChibaJapan
  2. 2.Department of Electrical EngineeringJadavpur UniversityKolkataIndia
  3. 3.Faculty of Electrical and Electronics Engineering Robotics and Unmanned Systems (RUS) groupUniversiti Malaysia PahangPahangMalaysia

Personalised recommendations