Motion intelligence to adapt for changing of its body conditions of mobile manipulator to utilize dynamical interferences

Mamoru Minami, Jingyu Gao, Yasushi Mae

Research output: Contribution to conferencePaper

Abstract

We propose a method to acquire a kind of motion intelligence to utilize dynamically interfered motion. The motion intelligence is defined here as an ability that the machine can find by itself a way to use dynamical interferences and nonlinear friction to obtain a desired motion. We propose a strategy how a machine uses effects of the dynamical interferences and how it acquires the way to achieve an objective motion. The desired motion is traveling of a 1-link mobile manipulator by using interfering motion of the mounted link, which does not possess driving motors or brakes. In this paper, new motion intelligence is given to the mobile manipulator by making mounted manipulator search the effective motion to use dynamical interferences during continuous motion in time domain. The objective is to make the mobile manipulator travel by the swinging motion of the mounted manipulator in spite of sudden changing the body condition and the shape of road surface. We confirmed that the proposed method could give the 1-link mobile manipulator a real-time motion intelligence, that is, it can find how to adapt sudden changing of the shape of the mounted link in continuous motion trials by real experiment.

Original languageEnglish
Pages3317-3322
Number of pages6
Publication statusPublished - 2005
EventSICE Annual Conference 2005 - Okayama, Japan
Duration: Aug 8 2005Aug 10 2005

Other

OtherSICE Annual Conference 2005
CountryJapan
CityOkayama
Period8/8/058/10/05

Keywords

  • Mobile Manipulator
  • Modeling
  • Motion Intelligence
  • Nonlinear Friction
  • Waved Road

ASJC Scopus subject areas

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

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  • Cite this

    Minami, M., Gao, J., & Mae, Y. (2005). Motion intelligence to adapt for changing of its body conditions of mobile manipulator to utilize dynamical interferences. 3317-3322. Paper presented at SICE Annual Conference 2005, Okayama, Japan.