TY - GEN
T1 - Anisotropic-Stiffness Belt in Mono wheeled Flexible Track for Rough Terrain Locomotion
AU - Ozawa, Yu
AU - Watanabe, Masahiro
AU - Tadakuma, Kenjiro
AU - Tadokoro, Satoshi
N1 - Funding Information:
Manuscript submitted February 25, 2022. This work was done as a part of the CURSOR project. The CURSOR project has received funding from the European Union’s HORIZON 2020 research and innovation programme (Grant No. 832790) and Strategic International Cooperative Research Program (SICORP) (Grant No. 20-191029856) from the Japan Science and Technology Agency. The opinions expressed in this study reflect only the authors' view and reflects in no way the European Commission's opinions. The European Commission is not responsible for any use that may be made of the information it contains. Also, this work was supported by JSPS KAKENHI Grant Number JP21J22877 and MEXT WISE Program for Sustainability in the Dynamic. (Corresponding author: Y. Ozawa)
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Rescue robots that search around on debris during natural disasters require high mobility to overcome various shaped materials scattered in the environment. Our previous study developed a new tracked mechanism called Mono-wheel Track, an elastic track driven by a single wheel, having a high capability to get over obstacles. In designing the MW - Track, the track stiffness is an essential factor-the flexible track can adapt to the geometry of the obstacles, but the flexibility prevents grousers from anchoring to the environment steadily. If the track has different localized stiffnesses, both the adaptability and the stability might be archived. In this study, we developed an 'anisotropic-stiffness track,' exhibiting different stiffness depending on the bending side, and investigated its deformation characteristics and the effects on mobility. The basic deformation characteristics of the track were confirmed by load tests. The effects on mobility were evaluated by step-climbing tests, ditch-crossing tests, and traction measuring with a mobile robot.
AB - Rescue robots that search around on debris during natural disasters require high mobility to overcome various shaped materials scattered in the environment. Our previous study developed a new tracked mechanism called Mono-wheel Track, an elastic track driven by a single wheel, having a high capability to get over obstacles. In designing the MW - Track, the track stiffness is an essential factor-the flexible track can adapt to the geometry of the obstacles, but the flexibility prevents grousers from anchoring to the environment steadily. If the track has different localized stiffnesses, both the adaptability and the stability might be archived. In this study, we developed an 'anisotropic-stiffness track,' exhibiting different stiffness depending on the bending side, and investigated its deformation characteristics and the effects on mobility. The basic deformation characteristics of the track were confirmed by load tests. The effects on mobility were evaluated by step-climbing tests, ditch-crossing tests, and traction measuring with a mobile robot.
KW - Compliant Joints and Mechanisms
KW - Mechanism Design
KW - Search and Rescue Robots
UR - http://www.scopus.com/inward/record.url?scp=85146315587&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85146315587&partnerID=8YFLogxK
U2 - 10.1109/IROS47612.2022.9981247
DO - 10.1109/IROS47612.2022.9981247
M3 - Conference contribution
AN - SCOPUS:85146315587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 13227
EP - 13232
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Y2 - 23 October 2022 through 27 October 2022
ER -