Autonomous mobile robot exploration in negative obstacle environment

Keskin, Numan; Uslu, Erkan; Çakmak, Furkan; Altuntas, Nihal; Amasyalı, Mehmet Fatih; Yavuz, Sırma

doi:10.1109/siu.2017.7960260

Cited by 3 publications

(6 citation statements)

References 11 publications

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“…First, let r be the length of one side of the triangle at the base, and denote the angles of the struts A 1 1 A 2 1 using θ and ϕ, as follows:…”

Section: B Kinematics and Staticsmentioning

confidence: 99%

“…Two patterns of artificial muscle placement were considered. Pattern 1 entails the use of 4/3 muscle winding for triangle A 1 1 A 2 1 B 1 1 and five other symmetrically positioned triangles. Pattern 2 entails the use of 4/3 muscle winding for triangle A 1 1 A 2 1 B 1 2 and five other symmetrically positioned triangles.…”

Section: B Kinematics and Staticsmentioning

confidence: 99%

“…Pattern 1 entails the use of 4/3 muscle winding for triangle A 1 1 A 2 1 B 1 1 and five other symmetrically positioned triangles. Pattern 2 entails the use of 4/3 muscle winding for triangle A 1 1 A 2 1 B 1 2 and five other symmetrically positioned triangles. In the cases of Patterns 1 and 2, the artificial muscles are placed in relation to the z axis, so the tensegrity structure stretches and contracts along the z axis.…”

Section: B Kinematics and Staticsmentioning

confidence: 99%

“…O NE of the roles of robots is to explore unknown spaces that are inaccessible to humans. Some examples include the exploration of an environment with obstacles [1] [2], and the exploration of an environment that cannot be directly observed [3] [4]. In such an unknown space, one of the primary roles of a robot is to investigate the state and the spatial shape of the unknown environment.…”

Section: Introductionmentioning

confidence: 99%

“…This work was supported by JSPS KAKENHI Grant 18H05470. 1 Ryota Kobayashi, Hiroyuki Nabae, Gen Endo, and Koichi Suzumori are with the Department of Mechanical Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, Japan kobayashi.r.at@m.titech.ac.jp Digital Object Identifier (DOI): see top of this page.…”

Section: Introductionmentioning

confidence: 99%

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Soft Tensegrity Robot Driven by Thin Artificial Muscles for the Exploration of Unknown Spatial Configurations

Kobayashi

Nabae

Endo

et al. 2022

IEEE Robot. Autom. Lett.

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The primary role of a robot exploring an unknown space is to investigate the state and the spatial shape of the environment. We have designed a soft robot that aims to move forward in an unknown space as it recognizes and adapts to the spatial shape of the environment. We previously reported that soft tensegrity and recurrent neural network can be used to realize tensegrity structure shape recognition. In this study, a tensegrity robot was designed to actively generate propulsive force as it presses its body against a wall in its surrounding environment. This robot design includes a novel artificial muscle arrangement called "4/3 muscle winding," which induces large deformation in the tensegrity structure. The application of this new artificial muscle arrangement allows two types of large deformations to be induced in the tensegrity structure, which results in displacements of 20% to 40% in the axial and radial directions. We have demonstrated that the robot, which was created by connecting the tensegrity structures, is lightweight and possesses passive shape adaptability in a three-dimensional environment. This tensegrity robot could enter an unknown space, such as a cave, and recognize the spatial shape of the surrounding environment by recognizing the tensegrity structure shape.

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“…First, let r be the length of one side of the triangle at the base, and denote the angles of the struts A 1 1 A 2 1 using θ and ϕ, as follows:…”

Section: B Kinematics and Staticsmentioning

confidence: 99%

Section: B Kinematics and Staticsmentioning

confidence: 99%

Section: B Kinematics and Staticsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Soft Tensegrity Robot Driven by Thin Artificial Muscles for the Exploration of Unknown Spatial Configurations

Kobayashi

Nabae

Endo

et al. 2022

IEEE Robot. Autom. Lett.

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Shape Recognition of a Tensegrity With Soft Sensor Threads and Artificial Muscles Using a Recurrent Neural Network

Takata

Nabae

et al. 2021

IEEE Robot. Autom. Lett.

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Autonomous Mobile Robot Navigation in Structured Rough Terrain

et al. 2018

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Main study areas for robotics research can be given as: mapping, localization, navigation and exploration. Given a robot’s current position, partial map of the environment and a goal position; navigation problem can be defined as optimal path planning and path following. Path planning and path following problem should be handled according to environment being static or dynamic, robot's mobility capabilities, sensors used on the robot and the roughness of the environment. In the study a four wheeled, skid-steering robot with laser range finder and depth sensor is built for Gazebo simulation environment. Also a statically structured labyrinth that consists of 15 degree continuous ramps, 15 degree discontinuous ramps, amorphous holes that robot cannot autonomously escape from if fallen into, walls and discontinuous obstacles that are below the robot laser height. 2D simultaneous localization and mapping, 3D mapping, path planning and path following with respect to the 3D map are implemented on Robot Operating System (ROS). Optimal path planning in rough terrain is accomplished by combining A* heuristic with a function of height difference of the 3D map nodes. Path following is carried out by turning-to and moving-towards actions on each sequential path node pairs. Tests performed on the labyrinth shows that obstacle avoidance, path planning and path following can be carried out successfully with the given implementation.

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Autonomous mobile robot exploration in negative obstacle environment

Cited by 3 publications

References 11 publications

Soft Tensegrity Robot Driven by Thin Artificial Muscles for the Exploration of Unknown Spatial Configurations

Soft Tensegrity Robot Driven by Thin Artificial Muscles for the Exploration of Unknown Spatial Configurations

Shape Recognition of a Tensegrity With Soft Sensor Threads and Artificial Muscles Using a Recurrent Neural Network

Autonomous Mobile Robot Navigation in Structured Rough Terrain

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