Abstract
This paper proposes and validates a system for measuring the flexed posture of the flexible mono-tread mobile track (FMT) using a flexible displacement sensor (FDS). The FMT proposed previously has a single track and vertebral structure. The flexed posture of the FMT determines its turning radius and direction; thus, knowing its posture is important. However, it is impossible to measure the shape of flexible mobile systems using sensors located internally, such as a rotary potentiometer, or located externally, such as a laser scanner. To solve the problem, we introduce the FDS to measure the flexed FMT shape. The sensor consists of two fixed electrodes, a sliding electrode, and a nylon string coated with carbon (NSCC). It works as a flexible potentiometer by moving the sliding electrode along the NSCC while maintaining electrical contact. The measurement system is implemented in a prototype of the FMT called RT02-WORMY and is validated in a series of experiments.
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Kinugasa, T., Akagi, T., Haji, T. et al. Measurement System for Flexed Shape of Flexibly Articulated Mobile Track. J Intell Robot Syst 75, 87–100 (2014). https://doi.org/10.1007/s10846-013-9869-8
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DOI: https://doi.org/10.1007/s10846-013-9869-8