Title :
Connected tracked robot with offset joint mechanism for multiple configurations
Author :
Tadakuma, Kenjiro ; Ohishi, Chigusa ; Maruyama, Akira ; Tadakuma, Riichiro ; Nagatani, Keiji ; Yoshida, Kazuya ; Ming, Aiguo ; Shimojo, Makoto
Author_Institution :
Dept. of Mech. Eng. & Intell. Syst., Univ. of Electro-Commun., Chofu, Japan
Abstract :
This paper describes various configurations of two connected unit crawlers. By changing the relative position of the two connected vehicle units, the overall robot comprising such a mechanism can automatically adapt to surface obstacles on the field, including complicated structures such as disaster-generated debris. In addition, we analyzed the effect of axis arrangements in order to simplify the realization of the switching function so as to achieve the four basic configurations.
Keywords :
collision avoidance; mobile robots; switching functions; crawlers; offset joint mechanism; robot tracking; surface obstacles; switching function; Connected Crawler; Double joint mechanism; Multiple configurations; Search and Rescue robot;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6674-0
DOI :
10.1109/IROS.2010.5651473
