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RISS 인기검색어
- 검색키워드
- 저자 : Yasuto Tamura (검색결과 2 건)
- 무료
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- 유료
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Development of Pipe Inspection Robot using Ring-type Laser
Yasuto Tamura,Ichirota Kanai,Kazuki Yamada,Hun-ok Lim 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
This paper describes the robot capable of inspecting a pipe. The developed robot is composed of three bodies, six legs, a laser range finder, a ring-type laser, and a CCD camera. The six legs are composed of three worm gears that are arranged at an angle of 120 degrees to run inside pipes of different diameters. The robot is designed with two joints to change the direction in pipe junctions, and the robot can measure a fore pipe shape using the laser range finder. The ring-type laser and the CCD camera are installed in the front the robot to detect and evaluate defects of a pipe. The CCD camera takes an image of the ring-type laser light in a pipe, and defects in a pipe are detected and evaluated from a break of the ring-type light by the image processing. We verified the effectiveness of the robot through the movement experiment and the defect inspection experiment.
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Gait Pattern Generation under Disturbance Force
Rio Ozawa,Yuki Kamogawa,Yasuto Tamura,Hun-ok Lim 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
This paper describes a gait pattern generation and the mechanisms of a biped humanoid robot that has 42 DOFs in total. The movable angles of the joints of the biped robot are about the same as those of a human. Its height is 1.66 [m] and its weight is 62.5 [kg]. If disturbance forces are applied to the waist when the robot is walking, the robot should change its step length to control its balance and not fall down. The gait pattern consists of a leg trajectory, an arm trajectory, and a waist trajectory is created using a fuzzy control rule. A waist trajectory that can cancel the moments generated by the motion of the legs is also determined by using the preview control. To confirm the efficacy of the gait pattern, walking simulations were conducted using MATLAB/Simlink and ADAMS.
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