ISO 19649:2017 移動ロボット—用語, 語彙 | ページ 6

3.1.1

移動ロボット

自分の制御下で移動できるロボット

注記 1移動ロボットは，マニピュレータの有無にかかわらず 移動プラットフォーム（3.1.2） であり得る。

[出典:ISO 8373:2012, 2.13]

3.1.2

モバイルプラットフォーム

移動 （3.1.10） を可能にする 移動ロボット（3.1.1） のすべてのコンポーネントの組み立て

注記 1可動プラットフォームには、負荷を支えるために使用できるシャーシを含めることができます。

注記2 「ベース」という用語と混同される可能性があるため，「モバイルベース」という用語を使用してモバイルプラットフォームを説明しないことをお勧めします。

[出典:ISO 8373:2012, 3.18]

3.1.3

可動性

モバイルプラットフォーム（3.1.2） がその環境内を移動する能力

注記 1可動性は尺度として使用できる。例えば、 全方向可動機構 (3.3.6) は通常、 差動駆動 (3.3.7) 車輪付き機構よりも高い可動性を有する。

3.1.4

操舵

移動プラットフォームの移動方向の制御 (3.1.2)

3.1.5

構成

いつでもロボットの形状を完全に決定するすべてのジョイント値のセット

[出典:ISO 8373:2012, 3.5]

3.1.6

配置構成

参照構成

製造業者によって定義された モバイルプラットフォーム（3.1.2） の指定された 構成（3.1.5）

3.1.7

走行面

移動ロボット（3.1.1） が移動する地形

[出典:ISO 8373:2012, 7.7]

3.1.8

走行面の接触面積

接地面積

走行面（3.1.7） と接触する1つまたは複数の車輪、トラック、または脚の領域。

3.1.9

サポートポリゴン

すべての 走行面接触領域の凸包 (3.1.8)

3.1.10

移動

移動プラットフォームの自走式移動 (3.1.2)

3.1.11

タレット

可動プラットフォーム（3.1.2） に取り付けられた回転構造物で、構造物に取り付けられたデバイスに独立した向きを与える

3.2.1

suspension

system or structure which absorbs shock or vibration from the travel surface (3.1.7)

Note 1 to entry: The purpose of suspension can be to maintain the stability of the mobile platform (3.1.2) and to overcome roughness of the travel surface by maintaining contact to the travel surface.

3.2.2

active suspension

suspension (3.2.1) whose damping and/or spring characteristics can be controlled

3.2.3

Zero Moment Point

ZMP

point, on the support polygon (3.1.9) , with respect to which the moment, resultant from all the forces exerted from the travel surface (3.1.7) to the mobile robot (3.1.1) , has zero components in the horizontal direction

3.3.1

steer wheel

steered wheel

wheel whose orientation is controlled to change the direction of travel

3.3.2

drive wheel

driving wheel

wheel that propels the mobile platform (3.1.2)

3.3.3

idler wheel

follower

trailing wheel

wheel that does not propel the mobile platform (3.1.2) and is not actively steered

3.3.4

swivel castor

castor

assembly including one or more wheels in a housing which rotates freely around a vertical axis that has a horizontal offset from the wheel’s axis of rotation

3.3.5

omni-directional wheel

wheel with rollers attached on its outer surface which allows a displacement in any direction, even perpendicular to the wheel itself

Note 1 to entry:an omni-directional mobile mechanism (3.3.6) is often constructed using three or more omni-directional wheels.

3.3.6

omni-directional mobile mechanism

wheeled mechanism which enables instantaneous travel of the mobile robot (3.1.1) in any direction

[SOURCE:ISO 8373:2012, 3.19.]

3.3.7

differential drive

mechanism and method of motion control in which drive wheels (3.3.2) along an axis are controlled independently, the speeds of the wheels effecting translation and the difference thereof effecting rotation

Note 1 to entry: This term can also apply to tracked robots.

3.4.1

gait

pattern of cyclic motion of the leg(s) for legged locomotion (3.1.10)

3.4.2

stride length

stride

travel distance of legged robot for one cycle of gait (3.4.1)

3.4.3

walking period

gait period

time of one cycle of gait (3.4.1)

3.4.4

leg phase

ratio of time delay of the start of swing state (3.4.6) of a leg from that of the reference leg to the walking period (3.4.3)

3.4.5

support state

stance state

state of a leg in which the leg is in contact with the travel surface (3.1.7)

3.4.6

swing state

recovery state

transfer state

state of a leg in which the leg is not in contact with the travel surface (3.1.7)

3.4.7

duty factor

ratio of the duration of the support state (3.4.5) of a leg to the walking period (3.4.3)

3.4.8

gait diagram

diagram of cyclic motion of the legs in time for legged locomotion (3.1.10)

3.5.1

travel surface reaction force

ground reaction force

force exerted to the mobile platform (3.1.2) from the travel surface (3.1.7) through the travel surface contact area (3.1.8)

3.5.2

travel surface contact pressure

ground contact pressure

pressure exerted to the mobile platform (3.1.2) from the travel surface (3.1.7) with wheels, tracks or legs through the travel surface contact area (3.1.8)

3.5.3

overturning moment

minimum moment required to overturn a mobile robot (3.1.1) from a statically stable pose (3.6.1)

Note 1 to entry: This moment is dependent on surface conditions, e.g. slope.

3.5.4

traction

maximum frictional force that can be produced between travel surface (3.1.7) and mobile robot (3.1.1) wheels, tracks or legs

3.5.5

mobile platform coordinate system

coordinate system referenced to one of the components of a mobile platform (3.1.2)

Note 1 to entry: ISO 9787:2013, 5.5, specifies a mobile platform coordinate system, O_p - X_p - Y_p – Z_p. The origin of the mobile platform coordinate system, O_p, is the mobile platform origin. The +X_p axis is normally taken in the forward direction of the mobile platform. The +Z_p axis is normally taken in the upward direction of the mobile platform. See Figure A.2

[SOURCE:ISO 8373:2012, 4.7.6, modified – Original Note 1 to entry has been deleted and new Note 1 to entry has been added.]

3.5.6

steer angle

angular displacement of the axle of a steer wheel (3.3.1) about the +Z_p axis

Note 1 to entry: Steer angle is usually zero when the wheel axle is aligned with Y_p direction of the mobile platform (3.1.2) .

Note 2 to entry: See mobile platform coordinate system (3.5.5) .

3.5.7

forward travel

movement of the mobile platform (3.1.2) along its +X_p axis

Note 1 to entry: See mobile platform coordinate system (3.5.5) .

3.5.8

reverse travel

backward travel

movement of the mobile platform (3.1.2) along its −X_p axis

Note 1 to entry: See mobile platform coordinate system (3.5.5) .

3.5.9

traverse

lateral travel

movement of the mobile platform (3.1.2) along its Y_p axis

Note 1 to entry: See mobile platform coordinate system (3.5.5) .

3.5.10

diagonal travel

movement of the mobile platform (3.1.2) as a combination of forward travel (3.5.7) / reverse travel (3.5.8) and traverse (3.5.9)

3.5.11

omni-directional travel

movement of the mobile platform (3.1.2) whose direction of travel can be changed instantaneously and arbitrarily by means of an omni-directional mobile mechanism (3.3.6)

3.5.12

turning

movement of the mobile platform (3.1.2) causing a change of the orientation of the mobile platform coordinate system (3.5.5)

Note 1 to entry: Turning is typically accompanied by the change of the direction of travel of the mobile platform.

Note 2 to entry: Table A.1 provides a comparison of turning, pivoting (3.5.13) and spinning (3.5.14) .

3.5.13

pivoting

pivot turning

rotating with translation during which one wheel, track or leg contact point stays in one place on the travel surface (3.1.7) to be used for the centre of turning (3.5.12)

Note 1 to entry: Table A.1 provides a comparison of turning, pivoting and spinning (3.5.14) .

3.5.14

spinning

spin turning

in-place rotation, or rotation about the mobile platform (3.1.2) origin without translation

Note 1 to entry: Table A.1 provides a comparison of turning (3.5.12) , pivoting (3.5.13) and spinning.

3.5.15

turning radius

radius of curvature of the path of the mobile platform (3.1.2) origin

3.5.16

turning width

minimum width of the rectangular passage within which the mobile platform (3.1.2) can complete a specific type of turning (3.5.12)

3.5.17

cornering force

force exerted on the mobile robot (3.1.1) by centrifugal force when travelling

3.5.18

balance control

balance management

process of maintaining the static and dynamic stability of the mobile robot (3.1.1)

3.6.1

pose

combination of position and orientation in space

Note 1 to entry: Pose for the manipulator normally refers to the position and orientation of the end effector or the mechanical interface.

Note 2 to entry: Pose for a mobile robot (3.1.1) can include the set of poses of the mobile platform (3.1.2) and of any manipulator attached to the mobile platform, with respect to the world coordinate system.

[SOURCE:ISO 8373:2012, 4.5]

3.6.2

simultaneous localization and mapping

SLAM

constructing and refining the environment map while using features of the partly constructed map for recognizing the pose (3.6.1) of the mobile robot (3.1.1) travelling within its environment

3.6.3

guidance

provision of external information to enable the mobile robot (3.1.1) to navigate

3.6.4

path planning

planning an ordered set of poses (3.6.1) to travel

3.6.5

trajectory planning

path planning (3.6.4) with time as parameter

3.6.6

collision

dynamic contact resulting in momentum exchange

3.6.7

obstacle avoidance

preventing interference, such as approaching, contacting or collision (3.6.6) , with obstacles by detecting them with external state sensors and adjusting trajectory planning (3.6.5)

3.6.8

collision avoidance

preventing collision (3.6.6) using external state sensors and reacting accordingly

3.6.9

docking

process of reaching and/or connecting a station, facility or other mobile platform (3.1.2) in order to perform an intended task

Note 1 to entry: Examples of intended tasks include charging, exchanging data and transferring payload.

3.6.10

inertial navigation system

INS

system that processes data from inertial sensors to calculate the pose (3.6.1) and velocity of mobile platform (3.1.2)

Note 1 to entry: INS usually calculates the pose and velocity employing an inertial measurement unit (IMU) which is composed of a gyroscope and an accelerometer, and additionally a compass.

3.6.11

dead reckoning

method of obtaining the pose (3.6.1) of a mobile robot (3.1.1) using only internal measurements from a known initial pose

[SOURCE:ISO 8373:2012, 7.8.]

3.6.12

odometry

measurement method employing the incremental distance data from internal state sensors to estimate the changes in position over time

Note 1 to entry: When not only incremental distance data but also direction information from a compass or inertial navigation system (3.6.10) is employed, dead reckoning (3.6.11) is a proper term rather than odometry.