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
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;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.812517
