Paper Info
Title
Error Compensation System with Proximity Sensors for Vertical Ladder Climbing of the Robot “WAREC-1”
Abstract
This paper introduces a sensor system and motion that measure and compensate the error in position and orientation between robot's end-effectors and the rungs of ladder while climbing a ladder. This error has been a threat to vertical ladder climbing for a four-limbed robot and may directly cause failure in climbing, thus must be compensated. In detail, our error compensation system consists of 8 proximity sensors (2 sensors for each end-effector) powered by lithium batteries and data is transmitted via wireless communication. With the system constructed, corresponding algorithms to measure and calculate the amount of error in position and orientation as well as motion planning of the robot to compensate the error are proposed. Additionally, countermeasures are also prepared to deal with undesired situations, such as communication in low quality and incorrect data returned from proximity sensors. Simulation results of comparison with and without error compensation are presented and experiment results of the real robot are given to validate the effectiveness of our proposed system. Finally, discussions about results are shown and expected prospective works are concluded.
Year
DOI
Venue
2018
10.1109/HUMANOIDS.2018.8625073
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
Keywords
Field
DocType
vertical ladder climbing,four-limbed robot,error compensation system,position,sensor system,proximity sensors,robot end-effector,WAREC-1,lithium batteries,wireless communication
Motion planning,Proximity sensor,Wireless,Computer science,Control theory,Simulation,Sensor system,Robot,Climbing
Conference
ISSN
ISBN
Citations 
2164-0572
978-1-5386-7284-6
0
PageRank 
References 
Authors
0.34
4
12
Name
Order
Citations
PageRank
X. Sun101.01
S. Hayashi200.34
Kenji Hashimoto38821.58
Takashi Matsuzawa402.37
Yuki Yoshida583.62
Nobuaki Sakai601.01
Akihiro Imai762.54
M. Okawara800.34
Kengo Kumagai901.01
Takanobu Matsubara1001.01
Koki Yamaguchi1101.01
Atsuo Takanishi121592319.81