Experiment systems using three types of motors for biomimetic machine research

Fusaomi Nagata, Akimasa Otsuka, Kaoru Sakakibara, Keigo Watanabe, Maki K. Habib

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

Recently, many studies on biomimetic experiment system are conducted. In this paper, unique mechatronics experiment systems using three types of motors are proposed for undergraduate students to be able to learn the basic mechatronics techniques based on biomimetics. The first system is developed to learn a stepping motor control using pulse signal. The second system is effective to learn A/D conversion for several sensor information, D/A conversion for DC motor control and a PID control method. Also, the third system is designed by using a robot arm with 4-DOFs to learn PWM (Pulse Width Modulation) control of a DC motor and force control of an end-effector. Further, the fourth system is designed using multiple mobile robots and a subsumption control architecture. Furthermore, a four-legged robot is proposed to learn how to control multiple servo motors and how to design a gait diagram. The effectiveness of the proposed systems is now being evaluated through experimental lectures in the department of mechanical engineering, Tokyo University of Science, Yamaguchi.

Original languageEnglish
Pages2711-2717
Number of pages7
Publication statusPublished - Jan 1 2013
Event2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan
Duration: Sep 14 2013Sep 17 2013

Other

Other2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013
CountryJapan
CityNagoya
Period9/14/139/17/13

Keywords

  • Crawl gait
  • Dc motor
  • Denavit-hartenberg notation
  • Force control
  • Four-legged robot
  • Mobile robot with two wheels
  • Photo interrupter
  • Photo reflector
  • PWM control
  • Robot arm ABOT
  • Servo motor
  • Stepping motor
  • Subsumption architecture

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Nagata, F., Otsuka, A., Sakakibara, K., Watanabe, K., & Habib, M. K. (2013). Experiment systems using three types of motors for biomimetic machine research. 2711-2717. Paper presented at 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan.