遠隔ワイヤ駆動移動ロボットREWW-ARM：設計・制御・実験的検証
REWW-ARM -- Remote Wire-Driven Mobile Robot: Design, Control, and Experimental Validation
電子機器を動作環境から排除しつつ高度な電子制御を維持するため、遠隔ワイヤ駆動システムを提案し、陸上・水中での移動・姿勢制御・物体操作を実証した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Takahiro Hattori, Kento Kawaharazuka, Temma Suzuki, Keita Yoneda, Kei Okada
分類: cs.RO
原文アブストラクト
Electronic devices are essential for robots but limit their usable environments. To overcome this, methods excluding electronics from the operating environment while retaining advanced electronic control and actuation have been explored. These include the remote hydraulic drive of electronics-free mobile robots, which offer high reachability, and long wire-driven robot arms with motors consolidated at the base, which offer high environmental resistance. To combine the advantages of both, this study proposes a new system, "Remote Wire Drive." As a proof-of-concept, we designed and developed the Remote Wire-Driven robot "REWW-ARM", which consists of the following components: 1) a novel power transmission mechanism, the "Remote Wire Transmission Mechanism" (RWTM), the key technology of the Remote Wire Drive; 2) an electronics-free distal mobile robot driven by it; and 3) a motor-unit that generates power and provides electronic closed-loop control based on state estimation via the RWTM. In this study, we evaluated the mechanical and control performance of REWW-ARM through several experiments, demonstrating its capability for locomotion, posture control, and object manipulation both on land and underwater. This suggests the potential for applying the Remote Wire-Driven system to various types of robots, thereby expanding their operational range.
