Title :
Non-isomorphic tread design for a side-slipping tread/limb hybrid robot
Author :
Godzdanker, Roy ; Voyles, Richard
Author_Institution :
Dept. of Comput. & Electr. Eng., Univ. of Denver, Denver, CO
Abstract :
A novel tread design is described for the crawling robot TerminatorBot that allows side-slipping locomotion. This module creates a tread/limb hybrid robot capable of both forward locomotion and transverse locomotion. This paper focuses on the preliminary analysis of the rubber cantilever beams that result in nonisotropic behavior of the tread which we hope will allow enhanced capability in both forward and sideways motion.
Keywords :
aerospace robotics; cantilevers; mobile robots; TerminatorBot; crawling robot; nonisomorphic tread design; rubber cantilever beams; side-slipping tread/limb hybrid robot; Couplings; Crawlers; Design engineering; Hardware; Legged locomotion; Mobile robots; Orbital robotics; Robot sensing systems; Software tools; Termination of employment; mobile robots; tread/limb hybrid;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4654803
