Abstract
In this paper, we aimed to establish a novel method for surface condition measurement for the indoor floor. To measure the surface condition, we proposed wiping motion that to stroke the target surface with changing the stroking speed. We developed the wiping device with a 6-axis force sensor, a passive pivot, and a contact plate to realize the wiping motion. In the experiment, the surface condition was measured using four kinds of floor materials and two kinds of liquids. From the experimental results, it was confirmed that the resistance force depends on the wiping velocity. From the experimental results, we confirmed the effectiveness of the proposed method and examined the quantitative index used for surface state description.
Highlights
It is needed to investigate damaged building such as a factory or a plant, but it is dangerous for the people to walk-in there
Proposal of the wiping motion: We proposed a simple method of surface condition measurement
Experiments showed that wiping motion works effectively for surface state measurement, and proposed an index for surface state description
Summary
It is needed to investigate damaged building such as a factory or a plant, but it is dangerous for the people to walk-in there. The operator who is in the safe place will know the environmental information through the robot and will become able to steer the robot for investigation or object manipulation. Tasks expected for such a robot are a movement to places where human is hard to arrive, and operation of objects. When a wheel type mobile robot enters an oil sump, oil adheres to the wheel With such a state, if operator makes the robot to try to move quickly or make a sudden turn, it will cause slipping and falling. By measuring the surface condition and presenting the information to the pilot who is in a remote place, it would be possible to adopt advance measures such as avoiding that route, which would lead to failure avoidance
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