Title :
A remotely operated mobile robot with modular track mechanisms
Author :
Choi, Youngsoo ; Jeong, Kyungmin ; Kang, Jongkyu ; Seo, Yongchil ; Lee, Sung-Uk ; Jung, SeungHo ; Kim, Seungho
Author_Institution :
Korea Atomic Energy Res. Inst., Daejeon
Abstract :
This paper introduces a remotely operated robotic system being developed for urban search and rescue. The developed QuadTrack-I has four modular track arms which can be driven independently to get a traction force. The modular track arms can also be rotated with respect to their arm axes to lift the body or step over larger obstacles. The QuadTrack-I can carry a small articulated robot to collapsed areas where victims could be under rubble. QuadTrack-II is also under development to increase the traction power and mobility of QuadTrack-I. This paper describes the structures of the robots and shows some experimental results.
Keywords :
manipulators; mobile robots; QuadTrack-I; articulated robot; modular track arms; modular track mechanisms; remotely operated mobile robot; traction force; Arm; Belts; Brushless DC motors; Manipulators; Mobile robots; Pulleys; Robotics and automation; Shape control; Teeth; Traction motors; Mobile Robot; Modular Track Mechanism; Urban Search and Rescue;
Conference_Titel :
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-6-2
Electronic_ISBN :
978-89-950038-6-2
DOI :
10.1109/ICCAS.2007.4407080