分散形マイクロロボットシステムに関する研究 (第4報,自律形マイクロ移動ロボットの試作)

Abstract

A Micro Line Trace Robot is a micro autonomous mobile robot which runs along a black free- hand line using a pair of photo-sensors. The Micro Line Trace Robot consists of a pair of photo- sensors, a pair of electromagnetic actuators and a programmable logic device: The photo sensor includes logic circuits and an amplifier, and out puts a TTL level signal based on the illuminance. The programmable logic device is constructed by AND gates and OR gates, and can be programmed by the user. The electromagnetic actuator consists of a coil, a leg, and an inclining cloth which converts the vertical vibration of the leg to driving force. The Micro Line Trace Robot with these functions can autonomously trace the black free-hand line, showing satisfactory experimental results. © 1995, The Japan Society of Mechanical Engineers. All rights reserved.