Robohub.org
 

Extreme-environment robotics under development at Keio University

by
20 May 2014



share this:
Keio_university

At Keio University in Japan, the Ishigami Laboratory, in the Faculty of Science and Technology, Department of Mechanical Engineering, is investigating robotic mobility systems. The main mission of this group is to perform fundamental and applied research for application to extreme environments, notably lunar and planetary rovers.

“In our lab, we focus on field robotics that works for extreme environments.”

“For example, we investigate the interaction mechanics between robots and sandy surfaces, taking into account “off-the-road locomotion.”Also, because such robots would be deployed in unknown environments, we also work on vision systems such as cameras and laser rangefinders.”

In this research, there are three key concepts: vehicle-terrain interaction mechanics, autonomous mobility systems, and robotic device development.

In vehicle-terrain interaction mechanics, the researchers analyze vehicle behavior using a dynamic simulator. They’re also developing vehicle-slip compensation systems and in-wheel-sensor systems.

“In the study of interaction mechanics, we first focus on a wheel itself using a “single-wheel testbed.” We put just one wheel on the testbed, and perform experimental runs to obtain wheel force data under different sets of slip parameters. Meanwhile, we numerically calculate wheel force based on a wheel-sand interaction model we developed. Then, we compare the experimental results with the numerical ones, so we can evaluate how valid the interaction model is. Applying this approach to a whole robot-vehicle system, it is possible to simulate how the robot behaves dynamically in an unknown environment. That’s the key approach in this research.”

“Sand flow investigation has received especially close attention in recent years. In our lab, of course, we’ve recently taken such an approach, called particle image velocimetry, or PIV, which has been widely used in fluid mechanics. PIV enables us to clearly determine the sand flow, helping to develop a well-defined interaction model.”

In the area of autonomous mobility systems, the Ishigami Lab is working on environment recognition using laser rangefinders and camera images, as well as robotlocalization, path planning, teleoperation, and integrated sensory processing systems.

“For example, in an unknown environment, there aren’t any road signs, saying ‘there’s an obstacle here,’ or ‘turn right at the next intersection.’ Such obstacles should be detected by onboard cameras, or laser rangefinders which operate based on the time-of-flight principle (measuring the time from a laser emission to detection of the reflected laser.). In our research, we effectively utilize such devices to obtain 3D distance data or 3D environment information. Based on these data, the robot itself decides how to travel. Such systems are called autonomous mobility systems.”

“One typical point of our lab is, I would say, we’re focusing on mechanics as well as autonomous mobility, applying both hardware and software approaches.. In general, one lab has one specific point of interest for research, and looks more deeply into that, but in our lab, we work on mechanics and also on autonomous mobility systems, so we pursue several topics in parallel. Robots consist of integrated technology, so we consider them as total systems.
In addition, another feature of our research is, we consider that field tests are extremely important. We actually take our robots to outdoor environments such as volcanic regions on Izu Oshima and Mt. Aso, and operate them in rough terrain, to test how they act in actual environments.”

“The field of robotics comprises a variety of technologies. So, rather than sticking to a single academic discipline, we’d like students to do research from a broad perspective.”



tags: , , ,


DigInfo TV is a Tokyo-based online video news platform dedicated to producing original coverage of cutting edge technology, research and products from Japan.
DigInfo TV is a Tokyo-based online video news platform dedicated to producing original coverage of cutting edge technology, research and products from Japan.





Related posts :



Open Robotics Launches the Open Source Robotics Alliance

The Open Source Robotics Foundation (OSRF) is pleased to announce the creation of the Open Source Robotics Alliance (OSRA), a new initiative to strengthen the governance of our open-source robotics so...

Robot Talk Episode 77 – Patricia Shaw

In the latest episode of the Robot Talk podcast, Claire chatted to Patricia Shaw from Aberystwyth University all about home assistance robots, and robot learning and development.
18 March 2024, by

Robot Talk Episode 64 – Rav Chunilal

In the latest episode of the Robot Talk podcast, Claire chatted to Rav Chunilal from Sellafield all about robotics and AI for nuclear decommissioning.
31 December 2023, by

AI holidays 2023

Thanks to those that sent and suggested AI and robotics-themed holiday videos, images, and stories. Here’s a sample to get you into the spirit this season....
31 December 2023, by and

Faced with dwindling bee colonies, scientists are arming queens with robots and smart hives

By Farshad Arvin, Martin Stefanec, and Tomas Krajnik Be it the news or the dwindling number of creatures hitting your windscreens, it will not have evaded you that the insect world in bad shape. ...
31 December 2023, by

Robot Talk Episode 63 – Ayse Kucukyilmaz

In the latest episode of the Robot Talk podcast, Claire chatted to Ayse Kucukyilmaz from the University of Nottingham about collaboration, conflict and failure in human-robot interactions.
31 December 2023, by





Robohub is supported by:




Would you like to learn how to tell impactful stories about your robot or AI system?


scicomm
training the next generation of science communicators in robotics & AI


©2024 - Association for the Understanding of Artificial Intelligence


 












©2021 - ROBOTS Association