DocumentCode
3333753
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
fYear
2010
fDate
18-22 Oct. 2010
Firstpage
3366
Lastpage
3371
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location
Taipei
ISSN
2153-0858
Print_ISBN
978-1-4244-6674-0
Type
conf
DOI
10.1109/IROS.2010.5651473
Filename
5651473
Link To Document