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Locomotion Method of a Rescue Robot with Multi-Legs and Omni-Directional Wheels
http://hdl.handle.net/10445/8456
http://hdl.handle.net/10445/8456e3dec539-f4b9-43e4-840e-988d14f74801
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
Fr36.3-P0533.pdf (427.1 kB)
Download is available from 2999/12/31.
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| Item type | 会議発表論文 / Conference Paper(1) | |||||
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| 公開日 | 2017-03-24 | |||||
| タイトル | ||||||
| タイトル | Locomotion Method of a Rescue Robot with Multi-Legs and Omni-Directional Wheels | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
| 資源タイプ | conference paper | |||||
| 著者 |
Fujiya, Tsuyoshi
× Fujiya, Tsuyoshi× 三上, 貞芳 |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | A rescue robot in a disaster area should have a mechanism to move on irregular surfaces. Actual disaster spot consists of an irregular surface such as inside of a collapsed house. However, it is mostly surrounded by many flat surfaces such as roads to that spot or undamaged area inside that spot. A robot that works under rescue operation should not only have special purpose locomotion mechanism but also have rapid movement methods to run under level surfaces. We proposed new rescue robot that has two mechanisms: one is Omnidirectional wheels for leveling surfaces, the other is a set of multiple legs for irregular surfaces. To realize smooth rotation seamlessly between wheel movement and legged locomotion, we investigated a new gait that realizes arbitrary rotation around any position of a center of rotation. The proposed gait is especially useful for sensing devices such as cameras mounted on top of the robot. | |||||
| 内容記述 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | doi: 10.1109/ICARCV.2014.7064559 | |||||
| 書誌情報 |
13th International Conference on Control, Automation, Robotics and Vision p. Fr36.3, 発行日 2014-12-10 |
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| 査読有無 | ||||||
| 値 | あり/yes | |||||
| 研究業績種別 | ||||||
| 値 | 国際会議/International Conference | |||||
| 単著共著 | ||||||
| 値 | 共著/joint | |||||
