DocumentCode :
663608
Title :
MUWA: Multi-field universal wheel for air-land vehicle with quad variable-pitch propellers
Author :
Kawasaki, Keisuke ; Zhao, Mengying ; Okada, Kenichi ; Inaba, Masayuki
Author_Institution :
Dept. of Mechano-Infomatics, Univ. of Tokyo, Tokyo, Japan
fYear :
2013
fDate :
3-7 Nov. 2013
Firstpage :
1880
Lastpage :
1885
Abstract :
This paper presents a multi-field universal vehicle that is able to work at land, sea and air. The vehicle consists of a quad-copter with variable-pitch propellers that enable the vehicle to stand on the ground at a given tilt angle, roll on the ground like a wheel, and float and move on the water, in addition to flying like a conventional quad-copter. This article clarifies the behavioral objectives, structural design, basic control mechanism of the ring-shaped robot, and examples of 3D measurements.
Keywords :
aerospace robotics; mobile robots; propellers; 3D measurements; MUWA; air-land vehicle; basic control mechanism; multifield universal vehicle; multifield universal wheel; quad variable pitch propellers; quad-copter; ring-shaped robot; structural design; Acceleration; Attitude control; Gravity; Mobile robots; Propellers; Sensors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
ISSN :
2153-0858
Type :
conf
DOI :
10.1109/IROS.2013.6696605
Filename :
6696605
Link To Document :
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