Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders
, Yohei Iida, Hazumu Kusama, Ryosuke Kinoshita, Yohei Tsukui, Rintaro Minegishi, Yuta Sunohara and Ohmi Fuchiwaki *
Round 1
Reviewer 1 Report
The authors show the realization of a centimeter size inchworm robot that can measure x-y-theta with resolution of 0.1 um and 0.4 mdeg. They have provided the PID control scheme for a one-step motion. The manuscript is well-written and concept seems to be novel. I recommend publication after minor (editorial) revisions.
Reviewer 2 Report
This paper proposed and demonstrated a novel position control method for a holonomic inchworm robot with optical sensors. The authors have documented and demonstrated the concept through the experimentations in a clear and sound manner. Overall I believe this is a very well prepared article and meets publication quality.
