DocumentCode
2039754
Title
Tetrahedral Mobile Robot with Novel Ball Shape Wheel
Author
Tadakuma, Kenjiro
Author_Institution
Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol.
fYear
2006
fDate
20-22 Feb. 2006
Firstpage
946
Lastpage
952
Abstract
In this paper, a mobile robot with a tetrahedral shape for its basic structure is presented as a thrown robot for search and rescue robot application. The Tetrahedral Mobile Robot has its body in the center of the whole structure. The driving parts that produce the propelling force are located at each corner. As a driving wheel mechanism, we have developed the "Omni-Ball" with one active and two passive rotational axes, which are explained in detail. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Tetrahedral Mobile Robot was confirmed
Keywords
mobile robots; remotely operated vehicles; service robots; actual prototype model; ball shape wheel; driving wheel mechanism; omni-ball; omni-directional wheel; search-and-rescue robot application; tetrahedral mobile robot; thrown robot motion; Buildings; Crawlers; Fatigue; Mobile robots; Orbital robotics; Propulsion; Protection; Prototypes; Shape; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on
Conference_Location
Pisa
Print_ISBN
1-4244-0040-6
Type
conf
DOI
10.1109/BIOROB.2006.1639213
Filename
1639213
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