Title :
Development of VmaxCarrier2: omni-directional mobile robot with function of step-climbing
Author :
Tadakuma, Kenjiro ; Hirose, Shigeo ; Tadakuma, Riichiro
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan
fDate :
26 April-1 May 2004
Abstract :
"VmaxCarrier2" is an omni-directional mobile robot with step-climbing capability, which can be used as a compact, quiet, and durable transportation vehicle in cluttered and cramped environments. We have already developed several kinds of omni-directional mobile robots for situations where it is desirable to be able to move in all directions, such as "VUTON" and "VmaxCarrier". To construct an omni-directional mobile robot with a greatly improved capability to climb steps, we developed the Omni-Disc2, a bent pneumatic actuator, and a pneumatic system. These novel components were constructed into a prototype, and through evaluation experiments we have confirmed the improved step climbing capability of VmaxCarrier2.
Keywords :
materials handling equipment; mobile robots; pneumatic actuators; service robots; Omni-Disc2; VmaxCarrier2; bent pneumatic actuator; cluttered environments; cramped environments; durable transportation vehicle; omni-directional mobile robot; step-climbing function; Aerospace engineering; Drives; Floors; Mobile robots; Pneumatic actuators; Propulsion; Prototypes; Transportation; Vehicles; Wheels;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307541
