DocumentCode
348778
Title
Rough terrain robot with 4 turn-over track frames-a feasibility study on the mechanism
Author
Matsuda, Tomoo ; Takagi, Kimihiko ; Sakamoto, Takuya
Author_Institution
Tech. Res. Center, Komatsu Ltd., Kanagawa, Japan
Volume
4
fYear
1999
fDate
1999
Firstpage
842
Abstract
Mobile mechanisms with tracks have been studied over the years, with the aim of using them in rough terrain environments. In 1992, the authors proposed a non-interference infinitely-turning 4-crawler mechanism. In this paper, the feasibility study results with a full-scale motorized model are announced. Field tests verify its powerful mobile functions such as climbing and descending high earth banks, and escaping from becoming stuck in muddy ground
Keywords
force control; mobile robots; motion control; climbing; descending; feasibility study; full-scale motorized model; high earth banks; infinitely-turning 4-crawler mechanism; muddy ground; rough terrain robot; Crawlers; Gears; Interference; Mobile robots; Robot kinematics; Robotics and automation; Shafts; Testing; Torque; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location
Tokyo
ISSN
1062-922X
Print_ISBN
0-7803-5731-0
Type
conf
DOI
10.1109/ICSMC.1999.812517
Filename
812517
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