TY - GEN
T1 - Development and evaluation of autonomous mobile manipulator for large scale outdoor environment
AU - Ohki, Takeshi
AU - Sato, Kiichi
AU - Nagatani, Keiji
AU - Yoshida, Kazuya
PY - 2011
Y1 - 2011
N2 - Recently, there has been rapid progress in the development of nondestructive sensing method for underground structures using artificial earthquake and seismometer array technology. However, this requires the deployment of many sensing devices over a wide area on a target outdoor field; such work is currently conducted in manually. To automate such work, our research group has been developing an autonomous mobile manipulator system for automatic rather than manual deployment of sensing devices. To realize such a deployment, the important technical issues are "mobility on rough terrain," "3D localization," and "manipulation." In this research, we designed and implemented these functions in our mobile manipulator system, called "El-Verde," and conducted field tests to validate its capability and to identify problems when applied in a real environment. In this paper, we introduce its implementation and report the field-test results.
AB - Recently, there has been rapid progress in the development of nondestructive sensing method for underground structures using artificial earthquake and seismometer array technology. However, this requires the deployment of many sensing devices over a wide area on a target outdoor field; such work is currently conducted in manually. To automate such work, our research group has been developing an autonomous mobile manipulator system for automatic rather than manual deployment of sensing devices. To realize such a deployment, the important technical issues are "mobility on rough terrain," "3D localization," and "manipulation." In this research, we designed and implemented these functions in our mobile manipulator system, called "El-Verde," and conducted field tests to validate its capability and to identify problems when applied in a real environment. In this paper, we introduce its implementation and report the field-test results.
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U2 - 10.1109/SII.2011.6147493
DO - 10.1109/SII.2011.6147493
M3 - Conference contribution
AN - SCOPUS:84863165345
SN - 9781457715235
T3 - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
SP - 463
EP - 468
BT - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
T2 - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
Y2 - 20 December 2011 through 22 December 2011
ER -