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Leg-Like Wheel for Mobile Robot that Realizes Smooth Movement on Even and Uneven Surfaces
http://hdl.handle.net/10445/8459
http://hdl.handle.net/10445/845961b8f1c4-d5ef-453f-97c4-667f824f0bb1
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
Fr37.5-P0507.pdf (2.8 MB)
Download is available from 2999/12/31.
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| Item type | 会議発表論文 / Conference Paper(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2017-03-24 | |||||
| タイトル | ||||||
| タイトル | Leg-Like Wheel for Mobile Robot that Realizes Smooth Movement on Even and Uneven Surfaces | |||||
| 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 |
Nagamura, Katsuya
× Nagamura, Katsuya× 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 is required to efficiently run on uneven surfaces. However, a high performance on a rough terrain sometimes causes inefficiency in rapidly moving on even surfaces such as paved areas. To provide a mechanism that is able to be used in different terrains without changing the structure, we propose a specialized shape for 6 wheels vehicles that is able to run like a normal wheeled vehicle but able to run over a wide variety of terrains such as rugged areas without changing the shape of the wheel. The wheel has two or three circular cutouts. In a wheeled car mode, the 6 wheels are synchronized so as to form a tripod gait, in which the vehicle is supported at least three wheel points. In a rough terrain environment, the cutouts of the wheels function as claws and able to pull the vehicle up to the obstacles. Throughout the experiments by a small model of the vehicle, it is shown that the proposed wheel has these abilities, along with high efficiencies in moving on a muddy or sandy surfaces. | |||||
| 内容記述 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | doi: 10.1109/ICARCV.2014.7064567 | |||||
| 書誌情報 |
13th International Conference on Control, Automation, Robotics and Vision p. Fr37.5, 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 | |||||
